小さな衝突を許容するマニピュレーションのための圧縮空気を用いた可変剛性関節機構

抄録

The final goal of this research is to achieve a kind of manipulation which allows small collisions. The approach proposes dealing with the problems of impact forces in 3 main steps: mechanical device, control, and manipulation strategy. Although there are several control-based research about compliance they all have an intrinsic response time, which might not be ideal under some situations. Thus, a mechanical solution to cover up for the mentioned period is desirable. In this phase of the research, a robot joint which uses compressed air to implement variable stiffness was designed and built under requirements to allow small collisions. The data from stiffness experiments showed that the designed device is close to real implementation. Collision experiments were also performed, and the results show some tendency towards the desirable behavior. However, more tests are necessary for a complete evaluation.