Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a New Multi-Fingered Robot Hand Using Ultrasonic Motors and Its Control System

초음파 모터를 이용한 다지 로봇 손 및 제어시스템 개발

  • Kim, Byoung-Ho ;
  • Oh, Sang-Rok (Intelligent Control Research Center, Korea Institute of Science and Technology) ;
  • You, Bum-Jae (Intelligent Control Research Center, Korea Institute of Science and Technology) ;
  • Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Choi, Hyouk-Ryeol (Dept.of Mechanical Engineering, Sungkyunkwan University)
  • 김병호 (한양대학교 전자컴퓨터공학부/한국과학기술연구원 지능제어 연구센터) ;
  • 오상록 (한국과학기술연구원 지능제어연구센터) ;
  • 유범재 (한국과학기술연구원 지능제어연구센터) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부) ;
  • 최혁렬 (성균관대학교기계공학부)
  • Published : 2000.04.01
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Abstract

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.

Keywords

References

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