2A1-G12 柔軟関節ロボットによる自由落下する重量物のキャッチング(フレキシブルロボット・メカニズム)

概要

論文の詳細を見る
When the most of robots which has rigid joints receives the large impact force, its power transmission mechanism such as gears and wires will be seriously damaged. If the robot is able to be controlled joint stiffness, it can absorb large impact force. In this study we discuss that how the robot catches a free falling heavy object. We had developed a three linked flexible jointed robot that can adjust joint stiffness as compliant and stiff. We had analyzed the catching motion by using a dynamic motion analysis software (MSC.ADAMS). We had verified that flexible joint robot can catch a free falling heavy object by adjust the joint parameters of the stiffness and the damping without dynamic servo control of actuators.
一般社団法人日本機械学会の論文
2008-06-06