マイクロリニア超音波モータを用いた小型ロボットハンドの試作

抄録

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.