| 摘要 |
<p>A robot device (1) includes a robot (100) and a controller (200). The robot (100) includes a base (101), an arm portion (120L, 120R) a wrist portion (130L, 130R), and actuators (Ac1L - Ac7L, Ac1R - Ac7R). The arm portion (120L, 120R) and a wrist portion (130L, 130R) comprises a multi-joint structure composed of a shoulder portion (121L, 121R), an upper arm A portion (122L, 122R), an upper arm B portion (123L, 123R), a lower arm portion (124L, 124R), a wrist A portion (131L, 131R), a wrist B portion (132L, 132R), and a flange portion (133L, 133R). The actuators (Ac1L - Ac7L, Ac1R - Ac7R) are configured to drive the shoulder portion (121L, 121R), the upper arm A portion (122L, 122R), the upper arm B portion (123L, 123R), the lower arm portion (124L, 124R), the wrist A portion (131L, 131R), the wrist B portion (132L, 132R), and the flange portion (133L, 133R). The controller (200) is configured to control operations of the actuators (Ac1L - Ac7L, Ac1R - Ac7R). Each of the shoulder portion (121L, 121R), the upper arm A portion (122L, 122R), the upper arm B portion (123L, 123R), the lower arm portion (124L, 124R), the wrist A portion (131L, 131R), the wrist B portion (132L, 132R), and the flange portion (133L, 133R) includes a strength member (Fr1 - Fr6) and an elastic outer skin (40b). The strength member (Fr1 - Fr6) is configured to constitute a support structure at least for gravity. The elastic outer skin (40b) is constituted by an elastic body and arranged so as to form a surface outer skin of the shoulder portion (121L, 121R), the upper arm A portion (122L, 122R), the upper arm B portion (123L, 123R), the lower arm portion (124L, 124R), the wrist A portion (131L, 131R), the wrist B portion (132L, 132R), and the flange portion (133L, 133R) while covering the strength member (Fr1 - Fr6).</p> |
