Development of a Manipulation Component for a Container Transferring Robot in Living Space (Design and Evaluation of a High Compliant Manipulation Mechanism)

摘要

This paper discusses significance of passive compliant mechanisms in home-use robots, and describes development of a manipulation component for transferring home-use containers. The component has two characteristic functions in mechanics. (1) Robust joint/release function by pin-connection method utilizing crank rotation shaft mechanism, (2) Misalignment tolerate function for horizontal and inclination positioning error by 2-axis sliders and revolution mechanism.