抄録
In this paper, we proposed a novel driving mechanism which can switch two states electronically to generate large gripping force and fast motion of a robot hand. To evaluate the concept, we built a prototype of a robot finger with two motors and demonstrated the large torque/high speed driving. Two motors which is mounted coaxially have different gear ratio. To suppress interference, one-way clutch was employed and inserted between the two motors. Experiment results showed that input voltage combination makes switch the torque/high speed driving and negative rotation electronically. In addition, suppressing the interference of two motors by one-way clutch was observed in good agreement with theoretical predictions. Also, the proposed partial hand fingers has a shape-fitting mechanism installing torsion springs and wire, and test the production and behavior experiments for the realization.
