208205 MR流体を用いた自由度切り替え可能な受動手首部機構の開発(OS17 ロボティクス・メカトロニクス3,オーガナイズド・セッション)

概要

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When useing posision-controlled manipulator to task that is insisted on touching surroundings, Positional err of manipulator generates excessive inner force, and this inner force cause manipulatator break. In order to avoid breaking manipulator, we have used Free-joint system in manipulator's wrist to absorb the positional err. In this case, DOF of manipulator's wrist is adjusted adequately in consideration of contacting condition. To change the DOF of manipulator's wrist We developed a DOF adjustable mechanism by using electro-magnetic clutch, but using electro-magnetic clutch made device heavy and learge. So in this paper we propose that develop the small DOF adjustable wrist mechanism using linear clutch stractur by using MR fluid
2011-03-17