公开(公告)号：JP2006035329A

公开(公告)日：2006-02-09

申请号：JP2004214725

申请日：2004-07-22

Applicant: Toyota Motor Corp ,  Univ Waseda ,  トヨタ自動車株式会社 ,  学校法人早稲田大学

Inventor： KURIHARA FUMIYOSHI ,  SHIOZAWA HIROKI ,  IWATA HIROYASU ,  SUGANO SHIGEKI

IPC: B25J15/08

Abstract: PROBLEM TO BE SOLVED: To provide an object grip device capable of appropriately gripping an object different in hardness by a simple method.
SOLUTION: A joint 15 comprises a motor 155, an elastic element 152 and a potentiometer 153 for measuring displacement, and combines functions as a passive flexible joint 150 and a driving joint. When the motor 155 is driven by a motor driver 7, the fingertips come in contact with the grip object, and for some time after that, the elastic element 152 is extended by reaction from the grip object 9, so that there is no change in a displacement angle of the joint 15 itself which is measured by the potentiometer 153. Afterwards, when the grip object starts its deformation, the displacement angle increases again, so that deformation can be determined from the output of the potentiometer 153. Based on the determined result, the object is gripped with maximum grip power.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种能够通过简单的方法适当地夹持硬度不同的物体的物体夹持装置。 解决方案：接头15包括用于测量位移的电动机155，弹性元件152和电位器153，并且组合作为被动柔性接头150和驱动接头的功能。 当马达155由马达驱动器7驱动时，指尖与夹持物体接触，一段时间后，弹性元件152由夹持物体9反作用延伸，使得不会发生变化 由电位计153测量的接头15本身的位移角度。此后，当夹持物体开始变形时，位移角再次增加，从而可以根据电位器153的输出来确定变形。基于确定的 结果，物体被抓住最大的抓地力。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2004351567A

公开(公告)日：2004-12-16

申请号：JP2003152769

申请日：2003-05-29

Applicant: Toyota Motor Corp ,  Univ Waseda ,  トヨタ自動車株式会社 ,  学校法人早稲田大学

Inventor： TATARA TAKEHIRO ,  UMIGA MASAHIRO ,  HAYASHI TAKASHI ,  SHIOZAWA HIROKI ,  IWATA HIROYASU ,  SUGANO SHIGEKI

IPC: B25J15/08 ,  A61F2/54

CPC classification number: B25J15/0009

Abstract: PROBLEM TO BE SOLVED: To provide a robot hand having excellent stability when holding an object. SOLUTION: This robot hand has two or more fingers including a thumb and holds the object. The robot hand 1 is provided with a thumb ball 3 arranged on a base part of the thumb, a robot hand base part 2 having a palm part 10 and mounted with the thumb ball 3 and fingers except the thumb thereon, a rotary shaft rotatably mounted on the robot hand base part 2, a driving means arranged from being shifted from the rotary shaft to rotate and drive the rotary shaft, and a transmission means for transmitting rotary driving force of the driving means to the rotary shaft. The thumb ball 3 rotates according to the rotation of the rotary shaft and projects when rotating to the palm part 10 side. COPYRIGHT: (C)2005,JPO&NCIPI

公开(公告)号：JP2003181789A

公开(公告)日：2003-07-02

申请号：JP2001382223

申请日：2001-12-14

Applicant: UNIV WASEDA

Inventor： MORITA TOSHIRO ,  KURIHARA FUMIYOSHI ,  SHIOZAWA HIROKI ,  SUGANO SHIGEKI

IPC: B25J19/00

Abstract: PROBLEM TO BE SOLVED: To provide a mechanical weight compensation apparatus which has simple structure and is able to balance gravity applied to an operating arm with respect to three orthogonal axes in space. SOLUTION: An extension coil spring 3 is attached to a link 2 in parallel with the link 2 with its one end fixed to the tip end side of the link 2. A wire 4 is connected to the other end of the coil spring 3. A pulley 5 having a built-in bearing is arranged at the middle portion of the link 2 so as to serve as a reference point A. The wire 4 is connected to an operation point B located at an upper side of a base 1 right above a rotary axis O of the base 1 via the pulley 5 having a built-in bearing. The reference point A, where the pulley 5 having a built-in bearing is to be located, is determined such that distance p is larger than distance h, and also the coil spring 3 is elongated by |p-h| in an initial state as (θ=90°). COPYRIGHT: (C)2003,JPO