Development of a Personal Robot with the Modularized Link Units
Shigeru Kurono*, Shigeto Aramaki**, Yoshikazu Fujino*
*Faculty of Engineering, Kyushu Sangyo University, 2-3-1, Matsukadai, Higashi-ku, Fukuoka 813, Japan
**Kyushu Engineering Department, Kinki University, 11-6 Kashiwanomori, Iizuka, Fukuoka 820, Japan
If the links which can be used as the components of a robot are organized in a manner of “modularized units” equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a “personal robot” and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.
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