Development of Pneumatic Robot Hand and Construction of Master-Slave System
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- TSUJIUCHI Nobutaka
- Doshisha University, Dept. of Mechanical Engineering
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- KOIZUMI Takayuki
- Doshisha University, Dept. of Mechanical Engineering
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- NISHINO Shinya
- Doshisha University, Dept. of Mechanical Engineering
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- KOMATSUBARA Hiroyuki
- Doshisha University, Dept. of Mechanical Engineering
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- KUDAWARA Tatsuwo
- SQUSE Inc., Dept. of Mechanical Engineering
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- HIRANO Masanori
- SQUSE Inc., Dept. of Mechanical Engineering
抄録
Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.
収録刊行物
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- Journal of System Design and Dynamics
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Journal of System Design and Dynamics 2 (6), 1306-1315, 2008
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680248379776
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- NII論文ID
- 130000099039
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- ISSN
- 18813046
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可