2023 Fiscal Year Final Research Report
Joint mechanism for robot arm that features both collision safety and quick contact stability
| Project/Area Number |
21K03961
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | University of Tsukuba |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | マニピュレーション / 人間協働ロボット / 安全 / 衝突 |
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| Outline of Final Research Achievements |
A novel variable stiffness mechanism using compressed air is developed in this research period. By using a rubber hose in a crushing direction, a highly rigid air bag was introduced, and by narrowing the range of motion of the elastic part, the rigidity increased to about 40 times that of the previously developed mechanism.
A one-degree-of-freedom robot arm is made using this mechanism, and modeling and actual experiments are conducted on the effect of reducing the impact force during collision and vibration suppression using the viscosity of a rubber hose. The impact force at the time of collision is affected only by the mass prior to the elastic part, and thus the magnitude of the impact force can be reduced. The elastic part of the hose causes bouncing vibration after the collision, but the model and the experiments on the machine show that the bouncing is eliminated and stabilized in a short period of time by generating a trajectory that generates a pushing force.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
近年，サービスロボット分野だけでなく，工場におけるロボットの利用においても人間とロボットの協働が重要となってきている．本研究では人間協働ロボットにおいて最も重要な安全性を確保するために制御だけに頼るのではなく機械的な本質安全を確保するために関節に可変剛性を導入することを提案した．可変剛性関節を導入することで人間や環境との接触時の撃力を低減することができるだけでなく，環境との衝突・接触時の振動の静定時間を短くできることを示した．これにより，人間が行っているようなてきぱきとしたピックアンドプレイス作業が可能となり，生産性の向上，サービスの質の向上（待たせる時間の短縮）などが期待できる．
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