曲面接触と弾性拘束からなる柔軟多自由度対偶の設計

摘要

人の生活環境で用いられる機械は，人と接触して負傷させてしまうリスクを有する.そのため，機構に柔らかさを導入し，接触負荷を軽減する必要がある.このとき，安全のための柔軟性と駆動力伝達のためのペイロードを両立することが課題となる.%In order to introduce flexibility into machines, a novel kinematic pair having flexible kinematic constraint utilizing differences between stiffness in directions of the principal relative motions and in the other directions is proposed. It allows relative translational motion along the specified spatial trajectory and 3-axial rotation as principal relative motions. In addition, it has flexible kinematic constraint with the specified non-linear stiffness in a non-principal translational direction. This kinematic pair is realized by the structure consisting of a pairing element with a spherical surface and one with a cam surface constrained by linear springs. This structure is designed by optimizing the arrangement of the linear springs so as to decrease stiffness in directions of the principal relative motions and deriving the cam surface so as to implement the specified non-linear stiffness in the direction of the flexible constraint. As an example, the flexible kinematic pair allowing the specified ordinary helix trajectory and 3-axial rotation as principal relative motions is designed.