三次元閉リンク機構による高伸縮多自由度ロボットアームの研究

抄録

Hyper-redundant robotic arms consisting of more than six degrees of freedom have attracted much attention in terms of high flexibility in confined spaces. We have developed a new mulit-dof robot arm with high extensibility and hollow structure to work in narrow spaces. The high extensibility and multiple degrees of freedom allow manipulation of clothing in a confined space around the body, and the hollow structure allows the robot arm to be scalable by storing other components inside. The robot arm consists of two types of three-dimensional closed link mechanisms that enable bending, turning, extending, and contracting movements. These movements are performed by synchronous motion of DC motors and linear actuators. This paper introduces the mechanism of the robotic arm, aiming to assist in lowing and lifting trousers in a restroom as a task.