超音波モータを指に持つロボットハンドの駆動特性 : 第3報,振動量による把持力検出と外乱の影響(機械力学,計測,自動制御)

概要

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A vibration-type ultrasonic vibrator works as an ultrasonic motor when it is pressed slantwise against the surface of an object. In our previous paper we made a trail robot hand with three fingers that each works as an ultrasonic motor. This robot hand can simultaneously grasp a cylindrical body and rotate it about its axis. High torque is obtained when an optimum contact force is used for the ultrasonic motor. We propose a detection method to measure the grasping force of the robot hand by the change in the amplitude of vibration. It was confirmed that the vibration amplitude detected by a piezo-element on the vibrator was decreased almost linearly with increase in the grasping force of robot hand. The grasping force affects very little change in the resonance frequency of the vibrator in comparison with the temperature by its self-vibration.
社団法人日本機械学会の論文
2005-04-25