低摩擦ギアードモータを用いた可変剛性ロボットアーム

抄録

In this paper, the backdrivability of geared motors using existing reduction gears is clarified by preliminary experiments. Based on the results, new low-friction geared motors using cycloidal drives of 20 reduction ratio and a 4-DOF robotic arm with them are developed. The backlash and backdrive-torque resulted approximately 1 arcmin and approximtely 1 Nm. It was confirmed that the joint stiffness can be varied only by adjusting feedback gains.