マニピュレータ装着型受動摺動機構の開発

抄録

The purpose of this research is to propose a mechanism with a sliding part independent from the robot hand and to solve the contact stability occurring when the robot hand comes into contacts in a high rigid environment in human-robot cooperative works. In this study, we proposed the novel mechanism which improves the maneuverability and the stability during the contact task with the high rigidity environment. The experimental results show that the effectiveness of the proposed mechanism is confirmed in the human-robot cooperative work.