著者

山田 泰之 風間 祐人

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2021 (ISSN:24243124)

巻号頁・発行日

pp.2A1-D08, 2021 (Released:2021-12-25)

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During overhead work, workers need to keep raising up upper limb weights. In that working posture, it is necessary to keep the arm with its own weight of approximately 2 to 4 kg. It is considered to be a cause of fatigue of arms and back. Therefore, in this research, we attempted to reduce the fatigue of the upward work by the weight compensation mechanism that balances the elastic force of the spring and their arms weight. It can compensate for their arms weight by the force of the spring in various postures of the arm at the time of work by using lightweight and highly accurate weight compensation mechanism authors developed. Furthermore, a horizontal multi-linkage mechanism that follows the movement of the shoulder and arm of a human is used. In this way, it is completely pure mechanical and simple structure without a motor and battery, and it can be expected effective in all upward works. The mechanism of self-weight compensation and the degree of freedom and parameters of the link mechanism were studied. For practical use, we discussed how to achieve both a simple structure, work movement followability, and mass productivity.