2A1-J09 電界共役流体を用いたロボットハンド(フレキシブルロボット・メカニズム)

概要

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An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrodes. This study introduces the ECF jet to develop a novel flexible robot hand. First, we characterize the ECF jet generator which could be a micro fluid pressure source of the robot hand. Next, we investigate the characteristics of the robot finger which mainly consists of the ECF jet generators, a bending actuator and an ECF tank. Finally we developed a five-fingered flexible robot hand and demonstrate that the robot hand can grasp some objects without any complex controller. The height, the width and the mass of the robot hand are approximately 70mm, 40mm, and 50g, respectively.
一般社団法人日本機械学会の論文
2011-05-26