F-0433 超音波モータを用いた義手把持機能の開発(S38-4 超音波技術応用)(S38 機構の開発とシミュレーション)

抄録

The TUAT/Karlsruhe Humanoid Hand (TUKAH hand), which has the identical dimension and natural movement like a human's hand, has been developed at our laboratory. The TUKAH hand has the number of joint's degrees of freedom close to human's hand and its fingers and palm can accomplish the grasping action that is familiar well with any objects, while its weight is only 125 grams. The TUKAH hand requires only one single motor to perform many types of action. In this research the optimum angle of guides and the required driving force are obtained by employing a mechanical system simulator to analyze the structure of fingers and force transfer mechanism. An ultrasonic motor with multilayers of stators is proposed. A prototype of sandwich type of ultrasonic motor with multilayers of stators was created, and the possibility of doubling driving torque by arranging ultrasonic motors in series was confirmed.