RCB-4HVによる新しい6自由度柔軟関節肩義手(ロボットアーム1.6kg)の開発

概要

論文の詳細を見る
In this paper, I use the RC servo motor, we propose a practical high torque SDP. RCB-4HV is used with control circuit (manufactured by Kondo Kagaku), I can provide a simplified total system of a serial servo control method. The flexible joint SDP have 6 degrees of freedom (θ1: shoulder rotation angle, θ2: shoulder flexion-extension angle, θ3: humeral rotation angle, θ4: elbow flexion-extension angle θ5: wrist rotation angle, θ6: hand prehension angle). Movement of the SDP was measured by a potentiometer using the Rcb4CommandGenerator. A new practical flexible joint SDP (Flexible joint Robot Arm 1.6Kg) can make by new vibration control theory.θ2 aluminum channel changed carbon channel. Thrust bearing is used θ1 and θ3. New Al-Mg (2.2~2.8%) alloy is used to comper with old Al-Mg (0.2~0.8%) alloy. A Rise time, A Fall time, Settling time and Steady-state deviation using control engineering is possible to solve from the fundamental GL900's data. As a result, prehension part of flexible joint SDP is stopped vibration of a hand by principle of conservation of energy.
2013-06-00