Development of a high performance multi-degree of freedom actuator applied to a robot

本研究提出一种具有大力矩、大角度的小型三自由度关节驱动器，并利用双影像感测器进行反馈控制。我确保了足够的性能部署到一个人形机器人手臂，并发现高定位精度与零点传感方法使用霍尔元件相结合。此外，我开发了先进的动态分析方法的致动器采用三维有限元法，并发现它是有效的优化设计，通过与原型上的测量比较。

In this study, a new small-sized 3-DOF joint actuator with high torque and wide-angle and a feedback control method using two image sensors were developed. I secured enough performance for the deployment to a humanoid robot arm and found high positioning precision by the combination with zero point sensing method using the Hall element. Furthermore, I developed the advanced dynamic analysis method for the actuator employing the three-dimensional finite element method and found that it was effective in optimal design through the comparison with the measurement on a prototype.