| Project/Area Number |
17360069
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Design engineering/Machine functional elements/Tribology
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
YOKOTA Shinichi Tokyo Institute of Technology, Precision and Intelligence Laboratory, Professor (10092579)
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| Co-Investigator(Kenkyū-buntansha) |
YOSHIDA Kazuhiro Tokyo Institute of Technology, Precision and Intelligence Laboratory, Associate Professor (00220632)
TAKEMURA Kenjiro Tokyo Institute of Technology, Precision and Intelligence Laboratory, Assistant Professor (90348821)
KIM Joonwan Tokyo Institute of Technology, Precision and Intelligence Laboratory, Assistant Professor (40401517)
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| Project Period (FY) |
2005 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥16,490,000 (Direct Cost: ¥15,500,000、Indirect Cost: ¥990,000)
Fiscal Year 2007: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2006: ¥4,900,000 (Direct Cost: ¥4,900,000)
Fiscal Year 2005: ¥7,300,000 (Direct Cost: ¥7,300,000)
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| Keywords | Micro hand / Soft actuator / Functional fluid / Multi-DOF / Micromachine / 電界共役流体 / マイクロアクチュエータ / フレキシブルアクチュエータ |
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| Research Abstract |
This study aims to develop a novel multi-fingered flexible micro hand suitable for handling a miniature soft object. We introduce an electro-conjugate fluid (ECF), which generates a powerful jet flow when subjected to high DC voltage, to drive a flexible micro finger with no mechanically moving part. Arranging several micro fingers, we can easily construct a multi-fingered flexible micro hand.
First, we developed an ECF micro manipulator. This manipulator mainly consists of a curved silicone rubber tube with diameter of 1 mm, and an ECF jet generator which has a needle-ring electrode pair inside. By applying a DC voltage to the electrode pair, an ECF jet is generated resulting in increasing the inner pressure of the silicone rubber tube. Then, the tube deforms from a curve shape to straight. The experimental result shows 1 mm displacement at the tube tip. We obtained know-how for developing a miniature silicone rubber tube etc. from this development.
Next, we developed a flexible micro finger using electro-conjugate fluid. This finger consists of a 4 m diameter silicone rubber tube, which has three fan-lie rooms with center angle of 120° along its axis, and an ECF jet generator having three needle-ring electrode pairs inside. By selectively applying a DC voltage to electrode pairs, one/two rooms are pressurized resulting in making the finger bend. The maximum displacement and forge generated at the tip of finger are 7.2 mm and 0.9 mN, respectively.
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