Development of Multi-Dof Robot Arm by Wire Drive for Portability

In recent years, it becomes popular to use robots that clean houses. In the future, it is expected that various robots having arm are used at home. But the robot arms used in factories are large and heavy, so it is difficult to use them at home. In this study, an expansion and contraction mechanism, which has a capability of portability and easiness of put-away, has been proposed and the robot arm has been developed using it. The previous robot arm was manually expanded and contracted. In this paper, we improved the robot arm so that can automatically expand and contract and have a wide movable range.