書誌事項
- タイトル別名
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- Load-Sensitive Continuously Variable Transmission for Robot Hands
- ロボットハンド ノ タメ ノ フカ カンノウ ムダン ヘンソクキ
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This paper presents a load-sensitive continuously variable transmission (CVT) for finger joints. Fingers of robot hands require force when grasping an object and speed when opening and closing. Therefore a CVT is ideal to improve the power transmission of a finger joint. Existing friction CVTs are too big and heavy to be installed in a finger joint. By focusing on the fact that finger joints do not necessarily rotate 360 degrees, this paper presents a remarkably simple and small load-sensitive CVT consisting of a five-bar linkage and a torsion coiled spring. Experimental results show that the CVT can increase its reduction ratio from 0.5 to 3.3 in response to a load. We have developed a two-finger gripper with the CVTs, which can grasp an object powerfully and manipulate quickly. These motions would be impossible without the CVT.
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 23 (2), 238-244, 2005
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
- 1390282679703734528
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- NII論文ID
- 10014512037
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 7282197
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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