減速機付ステッピングモータと板ばねを用いたロボットハンドの把握力制御 : 把持物体の形状が既知である場合のフィードフォワード把握力制御(機械力学,計測,自動制御)

概要

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In this paper, a prototype robot hand consisting of permanent magnet type stepping motors, gears and plate springs is developed, and the grasping force performance of the robot hand is investigated theoretically and experimentally. The robot hand is attached to a single-joint robot arm driven with a hybrid type stepping motor and a ball screw. In the theoretical analysis, the equations of motion of the system are derived, and the numerical calculations have been carried out. Then, it is ascertained numerically that the feedforward grasping force control can be well executed. Furthermore, the experiments have been carried out, and the excellent performance of the feedforward grasping force control is confirmed experimentally. Moreover, it is ascertained theoretically and experimentally that the hunting phenomena of the stepping motors are generated, when the operation time of the feedforward grasping force control is shorter to some extent.
2007-05-25