| 摘要 |
PURPOSE:To attain quick control of the moment of inertia of a rotary member which holds an object to be carried, by utilizing the movement of a magnetic fluid. CONSTITUTION:When a robot hand 3 grips an object 6 to be held, the moment of inertia of a robot arm 2 is detected by a controller 12 for moment of inertia. Then the shift position of a magnetic fluid 8 is decided, and a coil 11c set at said position is energized to form a magnetic field. The fluid 8 is moved by this magnetic field and the moment of inertia of the arm 2 is kept constant. In this case, the internal pressure levels of right and left containers 7 for the fluid 8 is set equal to each other by means of a connection tube 9 during the shift of the fluid 8. Thus the fluid 8 is moved smoothly. |
