1P1-D20 テーブルとイスの自動搬送ロボットのためのリフトアップ機構の小型化

概要

論文の詳細を見る
Recently, robots are developed to effectively support or act for people's work in home and office. Especially, it is hopeful for the robots to act for transporting tables and chairs in office. Our laboratory has already developed a mobile that automatically transports a table. To transport the table, the robot goes under it and lifts the position of the center of gravity. Note however that the robot could not transport small objects such as chairs because the robot was bigger than the chair. In this research, the lift up mechanism for the robot is miniaturized to transport a small object. Since the new lift up mechanism was realized as small as the expansion and contraction rate for the whole size is three times compared to the previous one, it can lift both a chair and a table with different lifted heights. This paper describes the details for the developed lift up mechanism, and the corresponding experimental results.