極限作業ロボットマニピュレータの設計法に関する研究　（その１）　　繊細感覚多本指マニピュレータの設計法

DOI Web Site 被引用文献3件 参考文献20件

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タイトル別名
  • Design method of the Dexterous Fingered Manipulator.
  • キョクゲン サギョウ ロボット マニピュレータ ノ セッケイホウ ニカンスルケ
  • ―繊細感覚多本指マニピュレータの設計法―

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The advanced manipulator is designed based on systematized method for hand tool operation. It has 7 D.O.F. ultra light weight arm with 4 fingered and 14 D.O.F. hand. Tactile sensors, covered by soft rubber which can keep sensing accuracy and recognize proper sensing points, are installed on finger tips and middle frames of fingers. Two force sensor cells are also assembled in each sensor. These fingers are drived by snake tube and ropes and fluid coupling connecting to AC motor actuators. Reduction gear ratio of the finger and the arm actuators is reduced in order to made force or dexterous control easier. This paper describe how the hand and arm manipulator should be designed refining its function or using advanced technology.

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