| 103B2 |
|---|
| Grasping force control of a robot hand driven by Giant Magnetostrictive Material |
| AUTHORS |
| Azumi ARAKI, Hiroshi HARADA (Kumamoto University) |
| ABSTRACT |
| In this paper,we will describe a grasping force control of a robot-hand by use of a hydraulic actuator driven by giant magnetostrictive material(GMM). Recently, micro-actuators are being investigated actively in the field of robotics. In these researches, the micro-actuators are driven by a solid state element such as electrostrictive material, shape memory alloy, GMM, and so on. GMM is an alloy that generates strain when the magnetic field is applied, and has some advantages over other solid state elements such as producing high power, small hysterisis and fast response. Then well known GMM is Terfenol-D that is used in this paper, its magnetostriction value is more than 0.1％ at room temperature. So, it is expected that the GMM can be applied to various micro devices. To generate the grasping force, the hydraulic actuator driven by GMM is used, the flow of liquid into the robot-hand is controled by the GMM actuator. The robot-hand which made of the rubber tube is pressurized by the hydraulic actuator and produces a grasping force. To control a grasping force, a pressure sensor to measure a pressure of liquid is needed, its measured by use of a pressure sensor through the tube installed in the actuator. The experiments are carried out to control the grasping force to the desired value by a feedback using the pressure measured by the pressure sensor. From the results of the experiments,it is shown that the grasping force can be controlled by the proposed system. |
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Annual Conference 2002