Robot covered by a visco - elastic material.

摘要

PURPOSE: To stop the travel of an arm of a robot before force acting between an object and the arm exceeds an allowable value by covering a surface of the arm with a viscous and elastic material. ;CONSTITUTION: A side of a first arm 23 of a robot is covered with a first viscous and elastic material 32 to reduce degree of impact when the first arm 23 collides against an object. A side of a second arm 26 thereof is covered with a second viscous and elastic material 31 to reduce degree of impact when the second arm 26 collides against an object. A third viscous and elastic material 30 is provided between the second arm 26 and a hand 29 to reduce degree of impact when the hand 29 collides against an object. Consequently, external force to be detected increases comparatively speedily to detect occurrence of collision at early timing. When detected external force exceeds a predetermined value, an arm drive means is forcedly stopped.;COPYRIGHT: (C)1996,JPO