抄録
Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. In contrast, humans perform motions with instantaneous force-as in a jump or throw-via variable viscoelastic characteristics. Therefore, we developed a 1-DOF manipulator with variable viscoelastic joint using a artificial muscle and a magnetorheological (MR) brake. In this paper, we proposed the method of generating instantaneous force for this manipulator. Further, the experiment of the proposed method was also conducted. As a resutl, we realized generating instantaneous force by proposed method.
