抄録
Recently, human assistant robots are actively developed. They are expected to have back drivability and be safe to human. Thus, we focused on variable viscoelasticity using pneumatic artificial muscle and MR (magnetorheological) fluid brake. By these devices, robots can realize various static or dynamic motions without high frequency vibration. In this paper, we focused on instantaneous force generated by elastic energy accumulated in muscles. Then, we investigated throwing motion using 2-DOF manipulator using these devices as case study of instantaneous force. Furthermore, a dynamic spring model of the manipulator was constructed for simulation. Then, we confirmed usability of the model experimentally. Finally, we conducted throwing experiment. As a result, experimental result reproduced simulation result. And we observed how joint stiffness and phase difference of each joint affect to throwing motion.
