A nine-degree-of-freedom multijoint manipulator called the CTARM-I has been developed. The CT ATM-I is based on the concept ofcoupled drive and the connected differential mechanism, and thus theforce for lifting a payload does not concentrate on one actuator but isdistributed among all actuators. This manipulator has a specific tendontraction force transmission mechanism in which a pair of tendons fordriving a joint are pulled from base actuators via pulleys mounted onthe base-side joints. The mechanism uses the coupled drive function ofthe tendon traction forces and thus enables the lightweight manipulatorto exhibit high payload capability. Through the experimental study, itwas demonstrated that the CT ARM-I has an active compliance arm andoffers payload capability far superior to conventional designs
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