| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a moving device for safely and easily adjusting a moving table to be moved to a desired position without the risk of a malfunction in equipment. <P>SOLUTION: An arm support device 1 includes: an arm table 3; a multi-joint arm 2 having a plurality of joints 11-15 for movably supporting the arm table 3 by external force to work on the arm table 3; a plurality of constant weight springs for performing energization to allow the joints 11-15 to be respectively prescribed initial postures; a plurality of powder brakes for controlling braking torques to brake the movement of the joints 11-15; a plurality of encoders for detecting the amount of operations in each of joints 11-15; a six-axis torque sensor for detecting the force and torque to work on the arm table 3; and a control part for controlling the respective braking amounts of the plurality of powder brakes, based on a mode to be selected by a foot switch 4 and the six-axis torque sensor and detection values from the encoders and/or the six-axis torque sensor. <P>COPYRIGHT: (C)2010,JPO&INPIT |
