無段変速機構を有するマニピュレータの手先出力拡大のための変速アルゴリズムの構築

抄録

Conventional industrial manipulators use additional sensors to ensure the safety for collaborating workers and environment. However, if an error occurs in the sensors or the power is not turned on, it is dangerous for the environment, so a manipulator which has structural back-drivability is desirable. As one of the candidates, Tahara et al. developed a high back-drivable parallel-link manipulator with continuously variable transmission(CVT). The high back-drivable shaft motor has a small output force compared with the motor which used conventional gear reducer, so the output force that resists a large external force makes it saturated. In this paper, we propose a method to expand the range in which reaction force can be output against external force by constructing the algorithm to change reduction ratio. The performance of the proposed method is evaluated by simulation.