抄録
This paper presents a collision force suppression mechanism. The mechanism is composed of an electromagnetic clutch and a rotary damper. The mechanism is installed on the shoulder and elbow joints of a manipulator, respectively. Also, the manipulator is installed on an omnidirectional robot base. If the manipulator collides with an object, the joint axes of the manipulator are separated from the electromagnetic clutch, and collision forces are suppression by the damper without any control. Through collision experiments, the effectiveness of the mechanism is verified.
