主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2020
開催日: 2020/05/27 - 2020/05/30
The flexibly constrained revolute pair (FCRP), which is a revolute pair with flexible kinematic constraint, has been proposed for human-safe robots. In order to drive the FCRP actively, the wire-driven active FCRP (AFCRP) is proposed. The structure of the AFCRP is synthesized as an underactuated mechanism driven by two elastic wires to simplify the structure. In this paper, design methodology of the AFCRP to have high actuation-force transmission, the desired rotational stiffness and the desired flexibility in the constraint directions is proposed. Besides, a method for kinetostatic analysis of the AFCRP is proposed. Finally, an example of the AFCRP is designed, and its motion accuracy and stiffness characteristics are examined with the proposed analysis.
