多重差動構造を用いた多関節ロボットの研究

―機械構造の設計と力学特性の検討―

抄録

We focused on the simplification of mechanical structures in the process of evolution of robots such as industrial manipulators. The goal of my research was to develop a robot that can concentrate multiple forces on a single output shaft or distribute them to multiple joints through a complex mechanical structure. The developed mechanical structure enables effective use of power. Eight motors installed on the same plane are used as drive sources. By inputting the helical gears connected to these motors and outputting the helical gears cut from both the left and right sides, it is possible to obtain rotation and linear motion from a single module. By combining multiple modules, we created a structure that changes the posture of the device and rotates the output shaft. Through demonstration experiments, we will verify whether attitude changes are possible or whether multiple power sources can be concentrated on the output shaft.