開放駆動状態切り替え可能なウォームギア減速機構を有する小型多種ロボット構成キットサーボモジュールの開発と応用

抄録

The functions required for servomotors used in various degrees of freedom of robots include the compatibility of locking the degrees of freedom for energy saving and reverse drive and the reducing the cost of implementing the functions. In this study, we construct a servo module with a worm gear reduction mechanism that can switch between open and drive states using the relatively inexpensive and easy-to-replicate method. The openable worm gear reduction mechanism satisfies the following three functions. 1. The self-locking characteristics support external loads. 2. We can drive the worm gear mechanism from the outside by disengaging the worm gear and worm wheel. 3. We can produce worm gears inexpensively by 3D printing to achieve many shapes. We used the servo module in four different applications to demonstrate the usefulness of its self-locking characteristics for supporting loads without motor current and its openable function for indirect teaching.