| 摘要 |
PROBLEM TO BE SOLVED: To actuate a roller by changing over into various control states corresponding to the shape of the outer surface of a vehicle and the actuation state of a robot. SOLUTION: A roller mechanism part 34 is installed as an end effector in the tip part of the robot. A pneumatic cylinders 78 and 80, each of which generates force to tilt in the opposite direction in relation to a rocking member 84, are installed in the roller mechanism part 34. In agreement with the actuation of the robot 16a, control is made so that a control state in which the pneumatic cylinder 78 and/or the pneumatic cylinder 80 tilt the rocking member 84 and a control state in which rods 78a and 80a are separated from the rocking member 84 are changed over. COPYRIGHT: (C)2004,JPO&NCIPI
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