任意高さでの補償力調整が可能な多自由度荷重補償マニピュレータの開発

抄録

This study aims at realization of a multi-DOF load compensation manipulator that is capable to adjust the compensation force at multiple heights. Articulated manipulators are used for picking works and manipulators that can corporate and reduce energy consumption are required. By using the load compensation manipulator, the gravity applied to the manipulator and the object is completely compensated. Therefore, energy consumption can be greatly reduced and the operator can easily move the weightless manipulator. The load compensation manipulator has 3 required performances: the ability to adjust the compensating force, the ability to adjust the compensating force at multiple heights, and the ability to have multi-DOF. In this study, the compensation force can be adjusted at any height by using a constant torque spring and a transmission, and it is possible to easily increase the number of DOF by adding a differential gear to them.