NDLI: 100g-100N finger joint with load-sensitive continuously variable transmission

Content Provider	IEEE Xplore Digital Library
Author	Takaki, T. Omata, T.
Copyright Year	2006
Description	Author affiliation: Tokyo Inst. of Technol., Kanagawa (Takaki, T.; Omata, T.)
Abstract	This paper presents a 99 g finger joint that can exert a very strong fingertip force of more than 100 N. We have shown that a simple five-bar linkage can be used as a load-sensitive continuously variable transmission (CVT) for a finger joint. The maximum fingertip force of our previous finger was limited by the mechanical strength of its links and bearings, not by the power of its DC motor. If the machine strength can be improved, a much greater fingertip force can be expected. To design a lightweight CVT with sufficient mechanical strength, we analyze the internal force of the CVT and select light plain bearings. We also analyze the stress by using the finite element method and select the materials of its links. Experimental results verify that the maximum fingertip force is more than 100 N near the singular configuration of the CVT and the maximum angular velocity is more than 550 deg/s. These motions are impossible without the CVT. We also developed a very light shape memory alloy brake of 0.56 g. The CVT with the brake can hold a fingertip force of more than 100 N not only near the singular configuration. The electric energy consumed by the brake is much less than that by the DC motor
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	976
Ending Page	981
File Size	950716
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1641836
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Mechanical power transmission DC motors Torque Couplings Angular velocity Finite element methods Stress Shape memory alloys Robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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