抄録
This paper discusses a concept for novel 3D super multi DOF robot arms utilizing electrostatic layer jamming. For various purposes, such as operation in limited spaces and dexterous operations, super multi DOF robot arms have been studied. Typically, in those robot arms, joints are independently controlled by corresponding wires and motors, which complicates the while structure. A previous study showed that jamming actuation can simplify the structure. Among jamming mechanisms, electrostatic layer jamming has shown its simplicity and high flexibility and is promising to realize compact and light-weight multi-DOF arms. In this paper, a prototype 5-DOF robot arm, which can move in 3D space, based on electrostatic layer jamming is introduced. A series of orthogonal joints equipped with electrostatic layer jamming brakes are cascaded to realize 3D motion. The prototype robot was driven by two pairs of stepper motors to create 3D postures. Although some engineering problems in the development were found, the prototype verified the basic concept for the super multi-DOF robot arm.
