| 摘要 |
PROBLEM TO BE SOLVED: To solve problems in manufacturing a device for relieving an impact force applied to a robot arm wherein it takes much time for machining the parts of the device and assembling and adjusting these parts. SOLUTION: This robot arm 3 includes two arm portions 30, 31 arranged in series in the direction of an axis A, a connection part for connecting the two arm portions 30, 31, a piezoelectric element 62 serving as a sensor for detecting the force in the direction of the axis A, a detection circuit for detecting the electric change of the piezoelectric element 62 and outputting a signal, a cutout circuit for cutting out a power supply circuit by the signal, an electrostrictive polymer 63 which is connected to the power supply circuit and extended/retracted by the change of the voltage, and a packaging part 64 the outline shape of which is changed while packaging the electrostrictive polymer 63. Both surfaces K1, K2 of the packaging part 64 crossing the direction of the axis A are brought into contact with one of the two arm portions 30, 31 and the other arm portion or the connection part. COPYRIGHT: (C)2010,JPO&INPIT
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