2A1-D14 二関節駆動型ロボットアームのマルチモータ駆動の省電力特性(アクチュエータの機構と制御(1))

Abstract

The target of this research is to develop a redundant actuator control system for a 2-DOF robotic arm. A multi-motor structure with parallel-mounted small-size motors and an ER fluid clutch is implemented to switch between mono-articular and bi-articular actuation control. For propose viscoelastic properties is necessary to verify the multi-motor driving method and optimal placement and ER fluid clutch is the relationship between the applied voltage and vibration suppression. In this report, verification of power-saving features in sequential drive using the multi-motor,confirmed the tendency to reduce the maximum current value.