7自由度ワイヤ干渉駆動アームの機構と制御

概要

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A seven-degrees-of-freedom manipulator actuated by a tendon-drive system has been developed. In order to reduce the weight and volume of the manipulator, each motor was installed on the base frame and the motor torque was transmitted to each joint through a tendon pulley system. The tendon drive mechanism, which uses a coupled drive, actuates the manipulator by controlling the tension of each tendon. In the developed system, eight direct-drive motors and tendon-pulleys were used for a seven-degrees-of-freedom manipulator. In this paper, the structure of the manipulator developed is first explained. Then, the tendon-tension-based control method for the coupled drive manipulator is formulated. Finally, through simple experiments using the manipulator in which the control system was installed, the effectiveness of the proposed structure and the control method is demonstrated.
社団法人日本機械学会の論文
1993-02-25