空気圧による移乗・移載装置の開発(第1報) : パラレルメカニズムを用いた移載機構

概要

論文の詳細を見る
It is estimated that twenty five percent people of Japanese population will be more than sixty five years old in 2020. Under the present conditions, development of a welfare machine is desired to assist the phisically handycapped person and old people. The machine which are developed at present are big system, or it is difficult to manipulate them. The purpose of this study is to develop compact, light weight, multi functions, easy manipulation and human friendly welfare machine. This system consists of lift and transfer part. It was developed lift part using two 3-DOF (degree-of-freedom) parallel robot which are driven by pneumatic actuators. In this paper, it was proved by these experimental results (position control, force control, cooperative control) that this system has good potential.
公益社団法人精密工学会の論文
1998-12-05