| 摘要 |
<p>PURPOSE: To generate various tracks of swinging freely as desired by furnishing a tilting block with a shoulder axis rotor supported rotatable round the shoulder axis and elbow axis, an arm, and a shoulder axis driving mechanism and an arm driving mechanism for driving them into rotation. CONSTITUTION: When a swing robot is to be used, first the contacting/separating position of a robot body 20 with a ball table 10 is adjusted by a feed screw shaft 14 for the contacting/separating motions and a driving mechanism 15, and the fore-aft position in the ball flying direction of the robot body 20 is adjusted by a feed screw shaft 17 and another driving mechanism 18 so that a ball is placed on the table 10 in the specified position and level. The rotating motion accompanied by a change in the angular velocity round the axis of a shoulder axis rotor 48 on a tilting block 31 is synthesized with the rotating motion accompanied by a change in the angular velocity round the axis of an arm 60, and thereupon the speed and acceleration of a shoulder driving motor 50 and an elbow axis driving motor 55 are controlled so that the face of a golf club 67 hits the ball correctly.</p> |
