20mバルーン型ジャコメッティアームを用いたモックアップ施設における機能検証実験

抄録

As a part of our researches on several types of Giacometti robots, a 20-m-long, very light, and very simple robot arm called Giacometti arm with balloon body is discussed in this paper. Although Giacometti arm is not suitable for precise positioning, rapid motion, and high load capacity, which are the aspects most conventional robots focus on, it is designed for very specific purposes such as inspection using a small camera at its tip and is designed to be essentially safe even if it falls down or hits an object. It is realized using helium-filled balloon bodies and thin pneumatic muscles.
We created a 20-m-long robot arm. It weights 940g and has 20 degrees of freedom. We confirmed its usability at a mock-up facility.