空圧式剛性切替機構を有する高安全マニピュレータ関節の開発

―空圧式操作器のプロトタイプ製作―

抄録

In this paper, we proposed a stiffness changeable joint mechanism with a fail-safe function. The mechanism can change its stiffness to three states, elastic-solid-elastic, according to the safety and task situation. Each stiffness state can be switched by positioning a stiffness changing part. The design parameter was decided based on the kinematic and geometric condition of the mechanism and confirmed its validity through the simulation by using a dynamic simulator.