2A2-C17 空気圧クッションを利用した剛性可変関節を搭載したロボットフィンガ

概要

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This paper describes a novel joint mechanism with a multi-directional adjustable stiffness. In this mechanism, two different kinds of air cushions (Cushion A and Cushion B) are placed between a motor-driven disk and an output link. The rotational motion of the motor transmitted to the output link with the friction force between the surface of Cushion A and the motor-driven disk. In addition, Cushion A plays following two important roles: (1) Absorption of external forces by its elastic deformation and slippage on the motor-driven disk and (2) Sensing the directions and amplitude of external forces with the pressure change in it. On the other hand, Cushion B controls the degree of pressing Cushion A against the motor-driven disk by its expansion. The increment of pressing force of Cushion A results in the increment of joint stiffness, because the elastic deformation and slippage of Cushion A are prevented. This paper describes the detail of joint mechanism and its basic performance.