| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a transfer support apparatus capable of accurately and easily detecting the abnormality of a rotary power transmission part, and its safety control method. Ž<P>SOLUTION: The transfer support apparatus includes: a first link; a motor provided in the first link; a power transmission part for transmitting rotary power by the motor; a shaft 64a which is freely rotatably connected to one end of the first link and rotated by the rotary power transmitted by the power transmission part; a second link 22 which has the shaft fixed at one end and is rotated with the shaft as an axis; a brake 93 for stopping the rotation of the shaft; and a brake control part 91 for controlling the brake on the basis of the measured strain value of the shaft. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
