人間共存型作業補助アームPAS-Armの開発 : 機能検証システムによる案内面生成実験(機械力学,計測,自動制御)

概要

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We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. The force to manipulate the arm end must be provided by the operator. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the operator. PAS-Arms have three joints and a three dimensional workspace, but possesses only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of continuously variable transmissions (CVTs) and differential gears. In this paper, we firstly discuss manipulability ellipsoid for the PAS-Arm. The major axis of the ellipsoid is the direction that the arm end may be easy to manipulate, and vice versa. We have developed an experimental system of the PAS-Arm. The CVTs of the experimental system may not adjust the transmission ratio to zero. We secondly describe an algorithm that handles the problem. Finally, we present initial experiments that verify the PAS-Arm mechanism. The experimental results were successful in producing the virtual guiding surfaces.
2010-03-25