3211 超音波モータの保持トルクを利用した小形ロボットハンドの把持力制御システムの開発(J25-2 メカニカルシステムとその知能化(2),J25 メカニカルシステムとその知能化)

概要

論文の詳細を見る
This paper discusses utilization of an ultrasonic motor for an industrial miniature electric robot hand. To prolong the life of the motor, we propose a gripping force control system that automatically stops the motor at a preset gripping force and keeps the gripping force utilizing the motor holding torque. And moreover, to miniaturize the gripping force sensing system and prevent disconnection of the lead wire, we use a strain gauge bonded on a motor attachment plate fixed on the base as the gripping force sensor. It has been confimed in experiments with a prototype of the hand that the max gripping force is about 25N and the proposed system can keep a gripping force within an error of ±2.1N.
社団法人日本機械学会の論文
2007-09-07