ジャミング効果を用いた小型クラッチ機構の開発

摘要

When a manipulator performs an environmental contact operation in order to avoid possible damage due to a positional error during the control, we can attach a passive wrist joint to the manipulator. Now this passive wrist joint have been developed, but it is too big and heavy. The purpose of this research is to develop a small and light clutch device in order to miniaturize the wrist joint. We propose a clutch device using the jamming effect and investigate the performance of the mechanism through the torque experiment.%マニピュレータによる対象物を操る時，ワークは床や壁などの作業環境と接触する作業がある，このような作業を「環境接触作業」と呼ぶ.マニピュレータを用いてこれらの作業を行う時，もし制御で手先に位置誤差が生じると，対象物や各関節に過大な内力が発生し，破壊の可能性がある.