DDモータと高分子材料の複合による粘弾性駆動モジュール

抄録

Direct Drive (DD) motors have high back drivability because no reduction gears are used, and are possible to improve the flexibility if used at robotic joint. Accordingly, on the other hand, the output joint becomes easily influenced by disturbances and thus high gain feedback control is needed for accurate position control. However, there is a limitation of the value of velocity gain (D gain) because D gain is increased, a high-frequency mechanical vibration would occur due to the amplification of a discretization noise. In this study, we focus on the viscoelasticity of polymers and propose a new viscoelastic module using polymers to add adequate mechanical viscoelasticity to the DD motor. The prototype mechanism of the module is proposed and its effectiveness is shown through basic experiments.