| 摘要 |
PROBLEM TO BE SOLVED: To provide a high-speed and precise compliance device having a compliance property and a force sensing function with a simple structure, and having the compliance property in a transition 2 degree-of-freedom direction and a multi-degree-of-freedom direction, about a compliance device for a robot working while receiving external force acting due to a position deviation and an attitude deviation. SOLUTION: The compliance device for a robot arm wherein a movable member is elastically coupled with a base member, comprises the base member, the movable member regulated in vertical moving in regard to the base member, a plurality of 1 degree-of-freedom restoring force generating means generating restoring force according to displacement amount from a reference position of the movable member, and a slide means having a controlling means of the restoring force generating means and capable of translating the moving member in a direction vertical to the restoring force at a contact between the restoring force generating means and the movable member. The restoring force generating means abuts on the moving member at a spherical surface forward end. COPYRIGHT: (C)2004,JPO&NCIPI
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