回転摩擦調整機構を用いた新型トルクリミッタとロボットハンドへの適用

今村 信昭

doi:10.11511/jacc.53.0.244.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 516

DOI https://doi.org/10.11511/jacc.53.0.244.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Robot Interaction 2

A New-type Mechanical fuse with Friction Adjusting Mechanism and its application to Robot hand

*Nobuaki IMAMURA

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Keywords: torque limiter, friction adjusting mechanism, robot hand, miniaturization

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

A new-type torque limiter with friction adjusting mechanism consists of rollers, retainer and plates. Since the mechanism is simple, it is easy to miniaturize the structure and implement the robot joint of which the spatial constraint is severe. In this paper, principle of a new-type torque limiter with friction adjusting mechanism is described and it is shown that the sliding torque could be adjusted by the pressing force stably by means of its motion model and experimental results. Furthermore, its application to a robot hand is introduced and the usefulness is confirmed

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