受動的な衝撃緩和機構を持つ人間共存型ロボットの開発

―衝撃緩和機構の改良―

抄録

We have developed the human friendly robot that consists of two arms, a trunk, a waist, an omnidirectional mobile base. Each arm of the robot has 2 DOF shoulder, 1 DOF elbow and 2 DOF hand, and its waist has 3 DOF. Its height is 1.42[m], its arm length is 0.76[m], and its total weight is 82.4 [kg]. In this paper, a new passive collision force suppression mechanism is described, which consists of two release air bags, a clutch gear, a drum, and four compression springs. Also, a new air cushion bag is developed to cover the entire outside of the robot. When the collision occurs between the robot and an object, the joints of the arm and the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. Collision experiments are conducted, and the effectiveness of the collision force suppression mechanism is verified.