Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
In medicine and industry, robot hands need to grasp and manipulate small cells snd mechanical parts. Many driving principles have been proposed such as electromagnetic and electrostatic for a miniaturization of robot hands, but their force do not reach the practical level. We propose a micro liner motor based on ultrasonic motors having high energy density. This motor consists of a stator with a through-hole and an output shaft inserted into the hole. The stator, which is an approximately 2 mm cube, is optimized by using FEM analysis. In this paper, we do two things for the development of the small robot hand. First, we build a prototype motor and examine its performance. Second, we build a link mechanism of the robot hand and measure a force to move the link by a experiment.
