JPS6478776A - Robot with joint having variable damper - Google Patents
Robot with joint having variable damperInfo
- 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
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.
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)
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 |
-
1987
- 1987-09-21 JP JP23499987A patent/JPS6478776A/en active Pending
Cited By (5)
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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