2002 Fiscal Year Final Research Report Summary
Development of a Hand for an Artificial Arm by using An Ultrasonic Motor
| Project/Area Number |
12555038
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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 | 展開研究 |
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| Research Field |
設計工学・機械要素・トライボロジー
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| Research Institution | Tokyo A&T University |
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Principal Investigator |
TOYAMA Shigeki Tokyo A&T University, Department of Technology, Professor, 工学部, 教授 (20143381)
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| Co-Investigator(Kenkyū-buntansha) |
WADA Hiroshi DOUBLE Research & Development CO. , LTD, President, 代表取締役(研究職)
IKEDA Kyoichi Tokyo A&T University, Department Technology, Professor, 工学部, 教授 (60313300)
TAGAWA Yasutaka Tokyo University of Agriculture and Technology Graduate School of Bio-Applications and Systems Engineering, Associate Professor, 工学部, 助教授 (20216807)
HASHIMOTO Takayoshi Y. T. system, President, 取締役社長(研究職)
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| Project Period (FY) |
2000 – 2002
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| Keywords | Artificial arm / Hand / U1trasonic motor / Gyroscopic / Finger mechanism |
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| Research Abstract |
We have developed a new robotic hand by applying the technology of ultrasonic motor. The hand works as well as the human being' s hand in movement such as grasping, picking, and so on. In this research, we have newly designed a small ultrasonic motor which has a light and small driver unit as a driving control and a small gyro compass as an input device. The motor consists of one stator and one rotor. The diameter of the stator is no more than 8.8 mm, which is the smallest one by today' s state of the art. The output torque reaches 300 gem. The rotor is made of plastics, which has the characteristics of good anti abrasion and high coefficient of frictions.
We have also investigated a new input device for a robotic hand. The device is a small gyro compass made by MEMS and is possible to sense the inertia force. We have found that our new hand is small and light and has movement similar to that of the human being' s hand.
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