受動ストレージ要素と重心可変機構を用いた省エネルギーマニピュレータの開発

抄録

The authors have previously proposed a control method that can significantly reduce the energy consumption of manipulators by using passive storage elements such as springs. This proposed method uses the natural vibration of the system, but the optimal spring constants change when the boundary conditions are changed or when the mass is changed by gripping the load. Therefore the spring stifnesses should be adjusted according to the operationg conditions. In order to solve this problem, we propose two methods, that is, a method using a variable stiffness mechanism and a method using a variable center of gravity mechanism. The effectiveness of the proposd methods are verified by numerical simulation.