Development of dislocation joint to perform mechanical softness

Toru Ogawa, Keiji Nagatani, Yutaka Tanaka

研究成果: Article


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".

ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
出版物ステータスPublished - 2005 5 1

ASJC Scopus subject areas

  • Mechanical Engineering

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