Japan Science and Technology Agency

Other

National Institute of Advanced Industrial Science and Technology

Kawabuchi Mechanical Engineering Laboratory, Inc.

Ichiro Kawabuchi

Kiyoshi Hoshino

Woo-Keun Yoon

Susumu Tachi

Tetsuo Kotoku

Naoaki Kawakami

A linear-motion telescopic mechanism according to the present invention includes a plurality of block members () by which an arbitrary arm length is achieved in such a manner that the plurality of block member () are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J). On the other hand, by separating the plurality of block members () one by one from a rigid alignment of the plurality of block members (), the linear-motion telescopic joint (J) is contracted. The block members () unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members () thus unfixed can be flexed in any directions, and therefore can be housed inside a support member () in a compact manner. This arrangement can provide a linear-motion telescopic mechanism (i) which enhances safety by eliminating such a risk, inevitable for a typical robot arm having an elbow joint, that an object around the robot arm gets caught between arm sections when the elbow joint is closed, and (ii) which can reduce a space to be occupied by the robot arm.

Linear-motion telescopic mechanism and robot arm having linear-motion telescopic mechanism

A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanismis configured so that a first linkhaving a first virtual center lineand a second linkhaving a second virtual center lineare coupled through a rotation and extension/retraction joint mechanism. The rotation and extension/retraction joint mechanismis configured to couple the first linkand the second linkso that when the second virtual center linerotates relative to the first virtual center linefrom a state where the first virtual center lineentirely overlaps with the second virtual center line, while crossing the first virtual center line, an intersection between the first virtual center lineand the second virtual center lineis displaced on the first virtual center lineby a predetermined distance corresponding to an angle of the rotation.

Rotation and extension/retraction link mechanism

An actuator using a fluid cylinder in which rigidity may be attained with a simple configuration, includes a fluid cylinder, a first choke valve device, and a second choke valve device. The first choke valve device is disposed between a fluid pressure source and a first chamber, and the second choke valve device is disposed between the fluid pressure source and a second chamber. An opening of a valve of a discharge valve mechanism included in each of the choke valve devices is set so as to be in inverse proportion to a target pressure in the chamber in which the fluid pressure is adjusted by the choke valve device.

Actuator using fluid cylinder and method of controlling the same

A robot hand equipped with a function of gently pinching an object may include a single degree of freedom joint for allowing bending or stretching at a connecting portion between a distal phalange section and a middle phalange section. The robot hand may further include a driving mechanism for causing this joint to make a rotating motion within a predetermined angular range. This driving mechanism is constituted by a motor and a speed reducer. The joint and the driving mechanism are configured so that the distal phalange section is rotated relative to the middle phalange section in two directions, namely, an inward direction and an outward direction within the predetermined angular range from a state where the distal phalange section is arranged in a straight line with the middle phalange section.

Robot hand

The present invention provides an actuator using a fluid cylinder capable of imparting stiffness to a fluid cylinder such as an air cylinder with a simple constitution, a control method thereof and a choke valve device. The actuator is provided with a fluid cylinder, a first choke valve deviceand a second choke valve device. The fluid cylinderhas a cylinder chamberand a pistondispose slidably in the cylinder chamberso as to partition the cylinder chamberinto a first chamberand a second chamber. The first choke valve deviceis disposed between a fluid pressure source and the first chamberand the second choke valve deviceis disposed between the fluid pressure source and the second chamber. Each of the choke valve devicesandis provided with a discharge valve mechanism capable of changing the opening of the valve.

Growing community of inventors

Tokyo, Japan

Ichiro Kawabuchi