書誌事項
- タイトル別名
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- 100[g]-100[N] Robot Finger with Load-Sensitive Continuously Variable Transmission
- フカ カンノウ ムダン ヘンソクキ オ モチイタ 100 g 100 N ユビ ノ カイハツ
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This paper shows a 99 [g] finger joint that can exert a very strong fingertip force of more than 100 [N] . We have proposed a simple and small load-sensitive continuously variable transmission (CVT), which consists of five links and a torsion-coiled spring. The maximum fingertip force of our previous finger was limited by the mechanical strength of its links and bearings, not by the power of its DC motor. If the machine strength can be improved, a much greater fingertip force can be expected. To design a lightweight CVT with sufficient mechanical strength, we analyze the internal force of the CVT and select light plain bearings. We also analyze the stress by using the finite element method and select the materials of its links. Experimental results verify that the maximum fingertip force is more than 100 [N] near the singular configuration of the CVT and the maximum angular velocity is more than 550 [deg/s] . These motions are impossible without the CVT. We also developed a very light shape memory alloy brake of 0.56 [g] . The CVT with the brake can hold a fingertip force of more than 100 [N] not only near the singular configuration. The electric energy consumed by the brake is much less than that by the DC motor.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 24 (2), 263-269, 2006
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726751744
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- NII論文ID
- 10017964142
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 7888521
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可