遠隔診断ロボット用安全触診アームの構築と機能検証(機械力学,計測,自動制御)

概要

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The final goal of this study is to develop the safety palpation-arm structure which satisfies the various kinds of functions demanded for a palpation-arm as a tele-ultrasound imaging diagnosis robot and simultaneously is able to maintain intrinsic safety during its operation. This paper deals with its feasibility study. First, the concept of a safety palpation-arm is proposed, based on a sequence of loadings in motion of a diagnosis robot. Secondly, the framework, which can control the resistance forces of the arm structure according to its concept, is constructed with a skin box beam structure reinforced with skin plates and a trigger causing local collapses. Finally, it is shown by experiments and FEA that the framework is verified to be useful to the safety palpation arm.
社団法人日本機械学会の論文
2008-03-25