In this study, the design of an automatic ROM-Exercise machine that is constructed witha planar multililnk mechamsm consisting of only revolute pairs is investigated. Namely, equations thatdetermine the minimum moving...In this study, the design of an automatic ROM-Exercise machine that is constructed witha planar multililnk mechamsm consisting of only revolute pairs is investigated. Namely, equations thatdetermine the minimum moving spaces and relative positions of link required to construct the legmechanism are formulated with consideration of transform functions. For the leg mechanism that isconstructed with a planar eleven-link mechanism, arrangements of each link and optimum linkprofiles avoided mutual interferences among moving links are determined wb consideration of therelative locations of each link in the same plane during a cycle of motion of the mechanism. Based onthe above analytical results, an automatic ROM-Exercise machine that performs within a minimum moving spaces is proposed as a prachcal example. ms study is carried out as part of the students'computcr education to the graduation thesis, in order to improve their creativity and machine designtechnology skills in coniunction with educational advantages. Significam educational results areobtained by using the design techniques mentioned above.展开更多
To be used as five-fingered myoelectric hands in daily living, robotic hands must be lightweight with the size of human hands. In addition, they must possess the DoFs （degrees of freedom） and high grip force similar...To be used as five-fingered myoelectric hands in daily living, robotic hands must be lightweight with the size of human hands. In addition, they must possess the DoFs （degrees of freedom） and high grip force similar to those of human hands. Balancing these requirements involves a trade-off; ideal robotic hands have yet to sufficiently satisfy both requirements. Herein, a power allocation mechanism is proposed to improve the grip force without increasing the size or weight of robotic hands by using redundant DoFs during pinching motions. Additionally, this mechanism is applied to an actual five-fingered myoelectric hand, which produces seven types of motions necessary for activities of daily living and realizes a -60% improvement in fingertip force, allowing three fingers to pinch objects exceeding 1 kg.展开更多
文摘In this study, the design of an automatic ROM-Exercise machine that is constructed witha planar multililnk mechamsm consisting of only revolute pairs is investigated. Namely, equations thatdetermine the minimum moving spaces and relative positions of link required to construct the legmechanism are formulated with consideration of transform functions. For the leg mechanism that isconstructed with a planar eleven-link mechanism, arrangements of each link and optimum linkprofiles avoided mutual interferences among moving links are determined wb consideration of therelative locations of each link in the same plane during a cycle of motion of the mechanism. Based onthe above analytical results, an automatic ROM-Exercise machine that performs within a minimum moving spaces is proposed as a prachcal example. ms study is carried out as part of the students'computcr education to the graduation thesis, in order to improve their creativity and machine designtechnology skills in coniunction with educational advantages. Significam educational results areobtained by using the design techniques mentioned above.
文摘To be used as five-fingered myoelectric hands in daily living, robotic hands must be lightweight with the size of human hands. In addition, they must possess the DoFs （degrees of freedom） and high grip force similar to those of human hands. Balancing these requirements involves a trade-off; ideal robotic hands have yet to sufficiently satisfy both requirements. Herein, a power allocation mechanism is proposed to improve the grip force without increasing the size or weight of robotic hands by using redundant DoFs during pinching motions. Additionally, this mechanism is applied to an actual five-fingered myoelectric hand, which produces seven types of motions necessary for activities of daily living and realizes a -60% improvement in fingertip force, allowing three fingers to pinch objects exceeding 1 kg.
