Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
A combination of electric motors and speed reducers are widely used as robot actuators. However, owing to problems such as low shock resistance and poor backdrivability, it is hard to use robots in tough disaster environments. Hydraulic actuators used in construction machines are not only applicable to such environments, but they also have good force density and power density. However, most conventional actuators are large, heavy, and have poor controllability and it is difficult to apply these to robots. In our past researches, we developed hydraulic actuators for use in robots and applied them to a robotic arm with seven degrees of freedom that has the same configuration to WAREC-1, electrically ‐ actuated disaster responding robot. In this paper, we described about developed hydraulic robot arm and simulated shock resistance. Furthermore, we conducted experiment to break concrete-boards with an impact force of collision.
