2P1-C28 ERクラッチによるモータの高速逆転制御

概要

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In recent years, many of robots have been used for the improvement sake in productive capacity. However, in the field of medical treatment and welfare, the cooperation activities in automation of man and a robot are expected, and reservation of the safety to man is demanded strongly. 3 degree of freedom soft manipulator using ER clutch and air pressure shock absorbing material has been developed as the robot which considered the safety when collision is generated. The method of the buffer of this manipulator has decreased the collision power by making the joint flexible when colliding. In this research, controlling the impression electric field of ER clutch after a collision for the further collision power reduction in addition to a current control performs energy dispersion of the arm by friction. Moreover, it examines recovering an arm promptly from the contact state for a collision by reversing a motor next. In this research, the reversal experiment of 1 link arm that doesn't contain the collision is conducted, and the effect of the energy dispersal with the ER clutch is confirmed.