JPS6478776A - Robot with joint having variable damper - Google Patents

Robot with joint having variable damper

Info

Publication number
JPS6478776A
JPS6478776A JP23499987A JP23499987A JPS6478776A JP S6478776 A JPS6478776 A JP S6478776A JP 23499987 A JP23499987 A JP 23499987A JP 23499987 A JP23499987 A JP 23499987A JP S6478776 A JPS6478776 A JP S6478776A
Authority
JP
Japan
Prior art keywords
viscosity
robot
damper
voltage
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP23499987A
Other languages
Japanese (ja)
Inventor
Takeo Omichi
Akihisa Okino
Naoto Kawauchi
Yoichi Matsumoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP23499987A priority Critical patent/JPS6478776A/en
Publication of JPS6478776A publication Critical patent/JPS6478776A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Fluid-Damping Devices (AREA)

Abstract

PURPOSE: To prevent a robot vibration and also quicken a response by containing an electric viscous fluid whose viscosity is changed by the change of a voltage added by a damper voltage control device in a damper. CONSTITUTION: An electric viscous fluid 1 having a variable viscosity is enclosed in the casing 3 of the outer perophery of a rotor 2 rotated integrally with a pulley 4. A voltage added by a damper voltage control device between this rotor 2 and the casing 3 is controlled by a damping factor control device and the viscosity of this fluid is changed by changing this voltage. The difficulty of the rotation of the rotor 2 is adjusted by the change of this viscosity and the vibration of a light robot which has a low rigidy (low number of peculiar vibration) is prevented and also the response upto a position target is quickened.
JP23499987A 1987-09-21 1987-09-21 Robot with joint having variable damper Pending JPS6478776A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP23499987A JPS6478776A (en) 1987-09-21 1987-09-21 Robot with joint having variable damper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP23499987A JPS6478776A (en) 1987-09-21 1987-09-21 Robot with joint having variable damper

Publications (1)

Publication Number Publication Date
JPS6478776A true JPS6478776A (en) 1989-03-24

Family

ID=16979564

Family Applications (1)

Application Number Title Priority Date Filing Date
JP23499987A Pending JPS6478776A (en) 1987-09-21 1987-09-21 Robot with joint having variable damper

Country Status (1)

Country Link
JP (1) JPS6478776A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04158414A (en) * 1990-10-23 1992-06-01 Tokai Rubber Ind Ltd Machinery with servo mechanism and actuation control method for said machinery
JP2006035405A (en) * 2004-07-30 2006-02-09 Sanko Gosei Ltd Joint device for robot
JP2013220496A (en) * 2012-04-13 2013-10-28 Honda Motor Co Ltd Power transmission device
JP2014046417A (en) * 2012-08-31 2014-03-17 Honda Motor Co Ltd Driving device
JP2018140475A (en) * 2017-02-28 2018-09-13 学校法人 中央大学 Self-weight compensation apparatus and force sense presentation device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04158414A (en) * 1990-10-23 1992-06-01 Tokai Rubber Ind Ltd Machinery with servo mechanism and actuation control method for said machinery
JP2006035405A (en) * 2004-07-30 2006-02-09 Sanko Gosei Ltd Joint device for robot
JP2013220496A (en) * 2012-04-13 2013-10-28 Honda Motor Co Ltd Power transmission device
JP2014046417A (en) * 2012-08-31 2014-03-17 Honda Motor Co Ltd Driving device
JP2018140475A (en) * 2017-02-28 2018-09-13 学校法人 中央大学 Self-weight compensation apparatus and force sense presentation device

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