超薄・超軽ロボットの開発研究 : 第1報一体構造関節マニピュレーター

概要

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In this research, we propose a new method to make the robot thin and light; we try to process the joint and the link together in one thin board as a robot, and we use the elastic deformation spring. The actual trajectory and stress strain analysis by FEM of the special designed spiral spring are discussed. Our manipulator of which specifications are thickness 0.6mm, weight 3.38g, width 20mm〜30mm, height 70mm. This is manufactured, and functions of arc movement, parallel movement, and gripping motions have been achieved by a simple controller.
社団法人日本時計学会の論文
2006-12-10