| 摘要 |
PROBLEM TO BE SOLVED: To notably improve safety in working together with a person by supporting a heavy load while being lightweight regarding a robot with arms mounted to a base through actuators. SOLUTION: In the robot with the arms 1, 2 mounted to the base 6 through the actuators 3, 4, the portion in front of the base 6 is suspended by a wire 10 of a winch 7 mounted above, and the position of the arms 1, 2 is controlled by the actuators 3, 4 and the winch 7. The winch 7 is also movable in a lateral direction. Since the weight can be supported by the winch, the arms and actuators can be reduced in weight and capacity to enlarge an application range. Safety is notably improved particularly in working together with the person, and the robot can be used for care or the like in ordinary homes to reduce the burden of a caregiver. COPYRIGHT: (C)2004,JPO
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