マニピュレータの可搬性向上のための分解・組み立て容易なロボット関節用アクチュエータの開発

抄録

In order for robots to play an active role in human daily life, robots are required to interact with humans. Manipulators are required to be safe in case of contact while making quick movements. In-link actuators are useful as direct-drive actuators with low inertia. In addition, we developed the joint actuator that is easy to disassemble and assemble by taking advantage of the feature of the in-link actuator in which stator and rotor are not treated as a single motor, but are separated into each link. Based on the design intent of the in-link actuator, the aim is to create a joint actuator that simultaneously satisfies the structural advantages of low inertia, light weight, small size, high back-drivability, and reduced number of parts, as well as ease of disassembly and assembly.