Development of dislocation joint to perform mechanical softness

Toru Ogawa, Keiji Nagatani, Yutaka Tanaka

Research output: Contribution to journalArticlepeer-review


In recent years, robots' activity in human-robot-coexistence environment is desired. In such environment, it is very important to avoid giving a damage to human or objects from such robots. Therefore passive compliance joints (that gives mechanical softness) are attracted recently. In this research, we propose a kind of passive compliance joint that softens a shock of a collision using aluminum corn clutch mechanism. The clutch slides when large external force is given to it, and the threshold value of the force can be adjusted automatically. We checked a performance of joints by applying it to a small robot arm. Furthermore, we have adopted the arm as a satellite arm to support main arm's work. In this paper, we introduce "a mechanism of the joint", "a verification of validity using experiments" and "an application example of the joint".

Original languageEnglish
Pages (from-to)1638-1645
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number5
Publication statusPublished - 2005 May


  • Cone Clutch
  • Dislocation Joint
  • Friction
  • Passive Compliance

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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