1A1-L04 電界共役流体を用いたタンク・ポンプ一体型3関節ロボットフィンガ(ロボットハンドの機構と把持戦略(1))

抄録

Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. The ECF jet can be a driving force which is suitable for miniaturization and weight reduction, because it only requires tiny electrodes to generate the ECF jet. This study introduces the ECF jet to develop a small and light-weight robot finger. First, we propose a concept of the robot finger driven by the ECF jet. The robot finger consists of three dactylopodites, each of which includes a rubber joint and an ECF jet generator. Second, we characterize the dactylopodite. Finally, we investigate the characteristics of the robot finger. The length, the width and the mass of the robot finger are 88.0 mm, 10.0 mm, and 11.0g, respectively.