1A1-E19 落下物を受動的にキャッチング可能な三リンク柔軟関節ロボットアームの開発 : 非線形バネ要素の配置位置による構造の違い

概要

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We had developed the three linked compliant joint robot. The robot can absorb large impact force that affect toward the robot from external environment when the robot try to do any dynamic actions, for example it try to land on ground, to catch heavy objects, or to tumble down without intention. The robot had equipped with mechanical joint stiffness adjustable mechanism using non-linear spring device named as SAT (Stiffness Adjustable Tendon). The three linked robot arm is not so compact since it has twelve pulleys to lead stainless wire for transmitting power from each motor toward target link. In this report, we had considered to try to reduce the number of idler pulley by re-arranging the layout of SAT. The robot arm which has new layout of power transmission system is simpler and stronger than old one's structure.