PURPOSE: To control amounts of a position, force, speed, or the like with a simple mechanism, high accuracy, and rapidly by using viscous fluid having specified high viscosity in a control stabilizing system.
CONSTITUTION: A robot arm 4 is installed and fixed on the output side shaft 3 of a decelerator 2, and driven by a servo motor 1 so as to perform circular motion. A control stabilizing system in which viscosity fluid consisting of a lower part flange 5 and a pair of flanges of an upper part flange 7 is used, is installed on the upper end part on the shaft 3. A flange 7 is installed on the shaft 3 through a bearing 8. A viscosity fluid 6 whose viscosity in shearing speed of 1 to 10sec-1 is 3 times or more higher than viscosity in shearing speed of 10 times opposing to shearing speed, is sealed in space which is parallel and at a constant intervals in a pair of flange. Rough driving of the robot arm 4 is feed-back controlled from a position sensor 10 by the control device of the servo motor 1, when accuracy of a speed and that of a position are demanded.
JPH0689738 | [Title of Invention] Temperature Sensitive Drive Device |
JPH0773430 | INDUSTRIAL APPLICABILITY: Flow generator using EHD effect |
WO/2006/074650 | GRIPPING DEVICE |
INOUE AKIO
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