2A1-I03 落下物を受動的にキャッチング可能な三リンク柔軟関節ロボットアームの開発 : コンプライアンスリミッターの提案(ワイヤ駆動系の機構と制御)

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  • 2A1-I03 Development of Three Linked Compliant Joint Robot Arm which can Achieve Passive Catching Motion of Free Falling Object : Proposal of Compliance Limiter for Non-Linear Spring SAT(Mechanism and Control for Wire Actuation System)

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We had developed the three linked compliant joint robot. The robot can absorb large impact force that affect toward the robot from external environment while the robot try to achieve dynamic actions, for example it try to land on ground, to catch heavy objects, or to tumble down the stairs without intention. The robot had equipped with mechanical joint stiffness adjustable mechanism using non-linear spring device named as SAT (Stiffness Adjustable Tendon). The three linked robot arm is not so compact since it has twelve pulleys to lead stainless wire for transmitting power from each motor toward target link. In this report, we aim to assume that it is possible to adjust SAT at high rigidity, near the solid body almost, state from the joint rigidity soft by combining the mechanism named a compliance limiter.

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