The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 2P3-I02
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 06, 2021 - June 08, 2021

Evaluation of Compliant Robot Arm with Quasi DD Motor and Gravity Compensation Mechanism
*Kota IIZUKA, Ryotaro SUZUKI, Naoyuki TAKESUE, Shinya TOKUNAGA, Toshiki FUKASAWA, Akira YAMAMOTO
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Keywords: Compliant Robot Arm, Gravity Compensation Mechanism, Control Characteristic
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Abstract

We have developed a actuator composed of quasi-DD motor and gravity compensation mechanism. In this paper, we have developed a compliant 3DOF robot arm with the actuator and conducted evaluation experiments of the robot arm. It showed the effectiveness of the actuator and the compliant robot arm.

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© 2021 The Japan Society of Mechanical Engineers
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