| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a shock absorber for a robot joint which is easily to adjust.SOLUTION: A robot arm 3 comprises: two arm portions 30 and 31 arranged in series in a direction of an axis A; a coupling part for connecting the two arm portions 30 and 31; a piezoelectric element 62 as a sensor for detecting force in the direction of the axis A; a detection circuit for detecting electric change of the piezoelectric element 62 and outputting a signal; an interruption circuit for interrupting a power supply circuit by the signal; an electrostrictive polymer 63 connected with the power supply circuit to extend and shrink in response to variation of voltage; and a packaging portion 64 changeable in an external form in a state of packaging the electrostrictive polymer 63. Both side surfaces K1 and K2, orthogonal to the direction of the axis A, of the packaging portion 64 are in contact with one arm portion of the two arm portions 30 and 31, the other arm portion, or the coupling part.</p> |
