2A2-I03 ERクラッチの印加電場制御による1リンクアームのエネルギ消散(アクチュエータの機構と制御)

概要

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Recent years, the cooperation activities of man and robot are expected in the field of medical treatment and welfare. Therefore a robot is asked for the safety to an unexpected collision and contact with man in order for man and a robot to work in the same space. 3-DOF soft manipulator using ER clutch and air pressure shock absorbing material has been developed as the robot for such the demand. This manipulator's buffer method has only reduced the collision power by making the joint flexible when collision. In this research, shock power will be more reduced by high-speed reversal control after collision. However, this method takes load for motor by an arm working in inertia. This problem is solved by energy dissipation of the arm using friction. In this paper, Examination about controlling an electric field at the time energy dissipation is conducted by 1 link arm without the collision.
一般社団法人日本機械学会の論文
2011-05-26