フレキシブル・リンク・ハンマーの打撃速度ベクトルの検討と釘打ちロボットへの応用

Abstract

When a hammer is used by a robot, it is driven by a rotational actuator such as a motor in many cases. If the length of the hammer head is not negligible compared to the link length, the hammer generates a tangential velocity to the face of an object at a hitting. This velocity component disturbs to drive a nail perpendicularly, for instance.This paper shows that a robot with a flexible link hammer can hit an object from a normal direction with only a specified normal velocity. In order to lead the hitting condition, we obtain the velocity vector of the tip of the hammer driven by a motor. And we determine the hitting time and a posture of an object to be set so that the hammer can flap it and make the tangential velocity zero at a hitting. Nailings are experimented by a 5 degrees of freedom manipulator with a flexible link hammer. It is shown from the results of the experiments that the robot can drive a nail into a wood perpendicularly on those hitting conditions.