Development of a Hand for an Artificial Arm by using An Ultrasonic Motor

我们应用超声波马达技术研制了一种新型机械手。在抓、拣等动作中，手的功能和人的手一样好。在本研究中，我们设计了一种小型超声电机，该电机以轻巧的驱动单元作为驱动控制，以小型陀螺仪作为输入装置。电动机由一个定子和一个转子组成。定子直径不超过8.8毫米，是目前最小的定子。输出扭矩达到300 gem。转子采用塑料制成，具有抗磨性好、摩擦系数高的特点。我们还研究了一种用于机械手的新型输入设备。该装置是由微机电系统制造的小型陀螺罗盘，可以感应惯性力。我们发现，我们的新手又小又轻，其运动方式与人类的手相似。

We have developed a new robotic hand by applying the technology of ultrasonic motor. The hand works as well as the human being' s hand in movement such as grasping, picking, and so on. In this research, we have newly designed a small ultrasonic motor which has a light and small driver unit as a driving control and a small gyro compass as an input device. The motor consists of one stator and one rotor. The diameter of the stator is no more than 8.8 mm, which is the smallest one by today' s state of the art. The output torque reaches 300 gem. The rotor is made of plastics, which has the characteristics of good anti abrasion and high coefficient of frictions.We have also investigated a new input device for a robotic hand. The device is a small gyro compass made by MEMS and is possible to sense the inertia force. We have found that our new hand is small and light and has movement similar to that of the human being' s hand.