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

使用超声波电机开发假肢手

• 批准号: 12555038
• 负责人: TOYAMA Shigeki
• 金额: $ 4.86万
• 依托单位: Tokyo A&T University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12555038/
• 关键词: Artificial arm; Hand; U1trasonic motor; Gyroscopic; Finger mechanism

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.

应用超声波电机技术研制了一种新型机械手。在本研究中，我们新设计了一种小型超音波马达，它以一个轻小型的驱动单元作为驱动控制，并以一个小型陀螺罗盘作为输入装置。电机由一个定子和一个转子组成。定子直径不超过8. 8 mm，是目前最小的定子，输出扭矩可达300 gem。转子采用塑料材料制成，具有耐磨性好、摩擦系数高的特点。该装置是由MEMS制成的小型陀螺罗盘，可以感测惯性力。我们已经发现我们的新手又小又轻，并且具有与人类的手相似的运动。

项目成果

遠山 茂樹: "Control Method for a Spherical Ultrasonic Motor"the ICMA' 02 on Human-Friendly Reliable Mechatronics. 387-394 (2002)

Shigeki Toyama：“球形超声波电机的控制方法”ICMA 02 关于人类友好的可靠机电一体化 (2002)。

遠山 茂樹: "Dynamics Model of Human Walking Mechanism"the ICMA' 02 on Human-Friendly Reliable Mechatoronics. 447-454 (2002)

Shigeki Toyama：“人类行走机构的动力学模型”ICMA 02 人类友好可靠机电学 447-454 (2002)

Eko Purwanto, Shigeki Toyama, Naoki Toyota, Hiroaki Murakami: "Control Method for a Spherical Ultrasonic Motor"Proc. of the ICMA '02 on Human-Friendly Reliable Mechatronics. 387-394 (2002)

Eko Purwanto、Shigeki Toyama、Naoki Toyota、Hiroaki Murakami：“球形超声波电机的控制方法”Proc。

遠山 茂樹: "Development of an Ultrasonic Motor as a Fine-Orienting Stage"IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. Vol.17,NO.4. (2001)

Shigeki Toyama：“作为精确定向平台的超声波电机的开发”IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Vol.17,NO.4 (2001)。

遠山 茂樹: "Control Method for a Spherical Ultrasonic Motor"the ICMA' 02 on Human-Friendly Reliable Mechatoronics. 387-394 (2002)

Shigeki Toyama：“球形超声波电机的控制方法”ICMA 02 人类友好型可靠机电学 387-394 (2002)