ロボットの関節に搭載するビンガム流体を用いたロータリーダンパーの開発

抄録

This research aim is to develop a rotary damper with Bingham fluid for robot joints. The SEA method, which incorporates elastic elements in joints, is used in robot joints as a countermeasure against contact and collision. The disadvantage of this method is that the mass-spring system causes vibration due to contact and collision. This study examines the improvement of this drawback by incorporating a rotary damper using a Bingham fluid. In this study, a rotary damper was fabricated, and experiments were conducted to measure the yield torque as the ability to lock the shaft during non-collision, and the damping torque as the ability to dampen as a damper. Both torques were confirmed by the experiments.