抄録
A new type of robot whose joints are supported by magnetic bearing mechanism is proposed. This robot joints are supported without mechanical contacts. It can avoid dust generation and oil lubrication which often become problems when robots are used in clean rooms, in vacuum chambers, or in space. In addition to the cleanliness and freedom of maintenance, the robot has a number of advantages as the freedom of friction, and the functions as micromanipulation, force control, force sensing, active vibration control, and so on. A prototype manipulator which has magnetic bearing joints is made. The experimental results on the magnetic bearing joint show the possibility of the proposed functions. And the levitation experiment of the prototype robot link shows that the robot joints can be supported by magnetic bearing mechanism and shows the feasibility of the a robot removing all mechanical contacts.
