フレキシブルマニピュレータの手先加速度操作性

概要

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In this paper, we discuss end-effector acceleration manipulability of flexible manipulators. We propose a <I>nonstretch flexible beam</I> model which is better to express real flexible beams than Euler-Bernoulli or Timoshenko beam. Based on this model, we have shown that a flexible beam has only one direction to transfer acceleration from driving force/torque on its proximal end. This is an intermediate characteristic between rigid body and elastic body. We have also found that conventional flexible manipulators (with point joints) have no direct relation between proximal driving force/torque and distal acceleration. Then we have discussed a new construction with rigid flanges and found that the flexible manipulators with rigid flanges have a direct relation between proximal driving torque and distal acceleration in only one direction. We verified above numerical results by some experiments.
社団法人日本ロボット学会の論文
2003-04-15