日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
構造的特異性を利用した零/極高剛性を実現するトルク伝達機構とそのロボット関節への応用
岡田 昌史紀 晋太郎菅谷 侑司
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ジャーナル フリー

2009 年 27 巻 4 号 p. 442-448

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To introduce a passive compliant mechanism for robot joints is an effective way for impact absorption. However, because robot joints also require high torque transmission characteristic, the simultaneous implementation of stiffness and softness is a significant issue. In this paper, we develop a torque transmission mechanism with nonlinear passive stiffness that realizes from zero to extremely high stiffness based on mechanical singularity. The analysis of nonlinearity of the stiffness is established and the experimental evaluations are shown. A four-legged robot with the proposed mechanism is designed and the effectiveness of high nonlinearity of the proposed mechanism is illustrated.

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© 2009 日本ロボット学会
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