小型・低摩擦アクチュエータMagLinkageの開発とハンド応用

抄録

We develop a compact size, low friction actuator “MagLinkage” and realize dynamic shock absorption control for catching of light object with a robot hand. The actuator is consisted of compact size direct-drive motor, magnet gear and low gear ratio planetary gear. The magnet gear translates motor rotation axis to vertical direction with extremely low friction. And the planetary gear reduces rotation speed appropriately for robotic hand application. In this paper, we describe specifics, dynamic response, friction/cogging torque model and catching a light weight object with shock absorption control.