多関節人工指制御のための静電型クラッチ(4部ロボット)

概要

論文の詳細を見る
In order to control functionally the many degrees of freedom of the artificial multi-finger system, electrostatic clutches which are different from any existing control method, were developed and used in our study. The general properties of the clutch were measured and investigated from the points of view of induced torque, response time of the torque and stability through the cylindrical type of the clutch. As a result, the clutch was controllable with as wide a range as 8.7kg・cm and with satisfactory rapidity of response. As for the stability of the clutch, some kinds of electrodes, such as S 45 C, brass, A 2017 (aruminium), copper gilded, through analysis, were ionized and soluted into the medium, but this resulted in the decrease in the stability of the clutch. In the case of the platinum-gilded electrode, which has a slight ionization tendency, the stability of the clutch was highly improved. The electrostatic clutches, though not superior to other types of clutching with respect to rapidity in response and stability, have a simple disc structure, which makes the driving element smaller and then capable of giving the system more output. Besides, in this study, the control system of induced force using electrostatic clutches were developed and investigated. As a result, it was confirmed that the force was controllable with small error.
1982-08-30