衝突時に物体や自己の破壊を防ぐロボットアーム用ディスロケーション関節の開発(機械力学,計測,自動制御)

概要

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In recent years, robots' activity in human-robot-coexistence environment is desired. In such environment, it is very important to avoid giving a damage to human or objects from such robots. Therefore passive compliance joints(that gives mechanical softness) are attracted recently. In this research, we propose a kind of passive compliance joint that softens a shock of a collision using aluminum corn clutch mechanism. The clutch slides when large external force is given to it, and the threshold value of the force can be adjusted automatically. We checked a performance of joints by applying it to a small robot arm. Furthermore, we have adopted the arm as a satellite arm to support main arm's work. In this paper, we introduce "a mechanism of the joint", "a verification of validity using experiments" and "an application example of the joint".
社団法人日本機械学会の論文
2005-05-25