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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
Citation: 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.
Appears in Collections:Master's Theses (Open)

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