Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/23663
Title: Task Specific Humanoid Hand Design using Single Crystal Ultrasonic Motors
Authors: HO TENG JUN
Keywords: Humanoid Hand, Grip, Piezoelectric, Ultrasonic Motor, Robotics, Actuation System
Issue Date: 14-Mar-2008
Source: HO TENG JUN (2008-03-14). Task Specific Humanoid Hand Design using Single Crystal Ultrasonic Motors. ScholarBank@NUS Repository.
Abstract: An effective humanoid hand design is proposed to meet the functional aspect of a human hand in daily activities. This functional requirement is explicitly represented as the ability to perform the six common grips - Cylindrical, Spherical, Lateral, Palmar, Pinch and Hook Grips. A set of point contact system and function definitions are developed for the six grips. An actuation system using cylindrical type ultrasonic motor is designed and fabricated where PZN-7%PT piezoelectric single crystal is used as its driving element. Timonshenko's simple beam model is adopted to model the dynamics of the stator. The driving circuit for the ultrasonic motor includes a four-phase full bridge inverter and DC-DC converter, where the amplitude of driving voltage signals is chosen as the primary speed control input. A single finger prototype is constructed to evaluate the implementation of cylindrical ultrasonic motor. Experimental results on the rotational speed, torque and power output are obtained.
URI: http://scholarbank.nus.edu.sg/handle/10635/23663
Appears in Collections:Master's Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
HoTJ.pdf8.14 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

225
checked on Dec 18, 2017

Download(s)

230
checked on Dec 18, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.