モータドライバを分散配置したロボットアームにおける車載Ethernet技術の活用によるアーム内配線の削減と配線の内装化

抄録

We have proposed and verified a small mobile robot that can travel on rough terrain and can be used for research on driving control and application verification. In our application research on mobile robots, we found that we needed a mobile robot with a robot arm. In an outdoor environment, the robot arm mounted on a moving body is required to be compact and lightweight, and to have a structure with excellent environmental resistance. Therefore, all harnesses should be stored inside the arm housing to prevent the harnesses from being exposed to the outside. In this report, we focus on the Automotive Ethernet technology 100Base-T1 and consider applying this technology to connections between axes to save connector and harness space and prevent the harness from being exposed to the outside world. Then, we report the result of converting the motor controller placed on each axis of the robot arm to 100Base-T1, attaching it to the robot arm, and applying 100Base-T1 to the connection between each axis.