カトウ　ケイスケ   KATO Keisuke   加藤　恵輔    所属   明治大学  理工学部    職種   専任准教授
発表年月日	2013/05/23
発表テーマ	屋外で人間の作業を支援するマニピュレータの開発
会議名	ロボティクス・メカトロニクス講演会2013
主催者	日本機械学会
学会区分	全国学会
発表形式	ポスター
単独共同区分	共同
開催地名	筑波
発表者・共同発表者	横山 貴之，宮里 貴嗣，加藤 恵輔
概要	We propose a humanoid manipulator with 6 degrees of freedom for supporting the human work outdoors. It consists of a float differential type torque sensor and a coupled drive and weight compensation mechanism based on springs for the any 3 dimensional own poses. By using the coupled drive and weight compensation mechanism, four of the motors, the torque sensor and all the weight compensation mechanisms are mounted on the shoulder. The proposed float differential type torque sensor consists of the planetary gear mechanism and compact and stiff springs. It overcame difficulties in keeping the stiffness and the infinite rotation of the shaft. We achieved the humanoid manipulator with the small moment of inertia, the small amounts of the energy to operate and the ability of the controlling the torque of the shoulder.