2A1-A05 マニピュレータ用ダブルモータ関節モジュールの開発 : 関節モジュールの試作及び評価(安全・安心なRT構築を目指して)

概要

論文の詳細を見る
In this paper, a double-motor driving type joint module is proposed, which can be introduced to a manipulator with a long and slender shape of joint. It consists of a double-motor driving actuator, a safety system and a control system. The joint module has a low backlash in its gear train in spite of using a bevel gear converting the rotational direction of a motor. From the evaluation of driving characteristics, it was confirmed that backlash angle could be reduced to 0.15[deg] and speed-torque relation was linear at 1[V] offset voltage. A 1oo2 safety system was integrated to avoid exceeding a dangerous speed and torque, and it can be confirmed through a verification experiment that a safety function cutting off a power to motors was successfully executed at dangerous situation.
一般社団法人日本機械学会の論文
2011-05-26