Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
巻, 号, ページ
No. 7-2
pp. 2A2-G03 (1-4)
出版年月
2007年5月
出版者
和文:
英文:
会議名称
和文:
ロボティックス・メカトロニクス秋田2007
英文:
開催地
和文:
秋田
英文:
Akita, Japan, May 10-12, 2007
アブストラクト
This paper describes the design of a wrist mechanism with tool changer and detachable dual mode gripper,
which are used to mount a heavy new type sensor system and enhance manipulation versatility of the humanitarian
demining robot Gryphon. The wrist mechanism has the structure considering not only motion range and load bearing,
but also power supplying, communication and water/dust proofness. The gripper moves quickly at opening/closing
motions, but it has a built-in sensitive transmission, which automatically switchs to high torque/low speed mode
when grasping an object. The effectivity of those devices are examined through experiments using the actual
proto-types.
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