相補的間欠歯車機構によりトルク伝達機能と関節駆動機能を両立するモジュラーロボットの構成とシリアルマニピュレータ実現

抄録

Modular robots, capable of forming various configurations by connecting multiple modules, are gaining attention as robots capable of adapting to diverse tasks and environments by altering their own configurations. However, individual modules have limited torque capabilities, making it challenging to lift several modules to form a serial-link manipulator to perform manipulation tasks. In this study, we propose the modular robot TYCOON (modular robot capable of Torque sYnthesized COllabOratioN), in which each module features torque transmission functionality allowing it to transmit its torque to other modules. This enables the collective exertion of greater torque than individual modules can achieve independently when multiple modules combine. We describe the complementary intermittent gear mechanism, which is essential for incorporating torque transmission functionality in addition to joint actuation functionality, which is commonly required for self-reconfiguring operations of modular robots. Furthermore, we introduce the configuration of a serial-link arm using torque transmission functionality and its application in manipulation tasks.