ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-C09
会議情報
2A2-C09 1自由度可変粘弾性マニピュレータによる瞬発力を伴う挙動の制御(アクチュエータの機構と制御(2))
間島 達雄戸森 央貴永井 豪中村 太郎
著者情報
会議録・要旨集 フリー

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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.
著者関連情報
© 2012 一般社団法人 日本機械学会
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