Load-Sensitive Continuously Variable Transmission for Robot Hands
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- Takaki Takeshi
- Tokyo Institute of Technology
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- Omata Toru
- Tokyo Institute of Technology
Bibliographic Information
- Other Title
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- ロボットハンドのための負荷感応無段変速機
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 23 (2), 238-244, 2005
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679703734528
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- NII Article ID
- 10014512037
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 7282197
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed