1A1-D14 収納機構を備えた軽量・コンパクトな車椅子搭載型ロボットアームの開発

概要

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In this research, we are currently developing a robotic arm which is mounted on a wheel chair to help some disabled people in daily living. The robotic arm should be safe and compact, so we installed a weight-compensating mechanism into the robotic arm to reduce its actuators' weight. And we can put away the robotic arm in storage area on the wheelchair. In this paper, newly developed robotic arm is shown. It is 7 D.O.F. Robotic arm with the weight-compensating mechanism and a simple gripper hand. It is 1070 [mm] long, and it weighs 5.05 [kg]. We confirmed 2.0 [kg] maximum load and the same height as the armrest with storage position.