インリンクアクチュエータの設計と開発

抄録

In recent years, robots capable of multiple degrees of freedom and dexterous movements have been demanded in a wide range of fields such as industry, medical care, and long-term care. In this research, instead of treating the motor and manipulator as separate parts, we consider a system that makes it easy to realize highly accurate control while combining these as one system. In this way, we aim to realize a link actuator with lower inertia and higher back drivability than before. In this paper, we proposed In-link actuator with a motor embedded in the link, and succeeded in reducing the inertia of the direct drive link actuator.