| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint braking system of a robot which is compact in size and lighter in weight, can be incorporated into a joint part, and also can generate braking force for controlling a great portion of a joint torque by body weight. SOLUTION: By carrying out driving-control of the control braking devices 203-1 to 203-6, and 205-1 to 205-6, setting compressed air stored in a compression gas tank 200 as a drive source, a frictional plate 35, serving as a frictional engagement means, is actuated. Then, a frictional engagement is carried out between members that perform relative movement so as to be constructed therebetween, and a braking force controlled by the joint is generated, thereby saving on the kinetic energy required for the movement, so that a desired object is attained. COPYRIGHT: (C)2004,JPO
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