| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve reliability of a robot by enabling the robot to detect a failure occurring in a robot arm. <P>SOLUTION: The robot 100 includes: arms 103L, 103R; actuators Ac2-Ac8 provided in the arms 103L, 103R and driving the arms 103L, 103R; a sensor fixture 121 provided in a base part of the actuators Ac2, Ac9 positioned at the most proximal end side in the arms 103L, 103R; and a sensor 122 provided in the sensor fixture 121 and including a piezoelectric body that has a natural frequency higher than that of a structural material forming the arms 103L, 103R. <P>COPYRIGHT: (C)2012,JPO&INPIT |
