Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
We have developed the human friendly robot that consists of two arms, a trunk, a waist, an omnidirectional mobile base. Each arm of the robot has 2 DOF shoulder, 1 DOF elbow and 2 DOF hand, and its waist has 3 DOF. Its height is 1.42[m], its arm length is 0.76[m], and its total weight is 83.5 [kg]. In this paper, a new passive collision force suppression mechanism is described, which consists of two release air bags, a clutch gear, two coil springs, and four liner guides. Also, a new soft cover is developed to cover the entire outside of the robot. When the collision occurs between the robot and an object, the joints of the arm and the waist are disconnected by the collision force suppression mechanism depending on the magnitude of collision forces. Collision experiments are conducted, and the effectiveness of the collision force suppression mechanism is verified.
