The development of 6 D.O.F robot manipulator with human-friendly design

摘要

The robot manipulator executes works gripping or carrying an object at any position in various environments. For using this manipulator in general home, it should be able to carry out the task transporting small things as a glass and stationery. And, it should be able to have human-friendly design that can reduce a possibility of danger and reduce an unpleasant feeling because it executes orders at close human. Also, motion of Robot manipulator should be able to reduce an unpleasant feeling by similar motion such as human's arm. Therefore, the robot manipulator making use of human-friendly design and making up a similar joint structure such as human's arm is presented in this paper. And the design process for each joint of the robot manipulator is introduced. Also the robot manipulator executes tasks carrying object at fixed position and any position, which is verified in this paper.