キャスティングマニピュレーションに関する研究 : 第1報, 可変長のひも状柔軟リンクを有するマニピュレータの提案とそのスイング制御法

概要

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A casting manipulator is introduced as a new type of manipulator, which includes flexible parts, such as a string, in its link mechanism. In a simple configuration, a string is wound around a reel attached on a rigid link and the rigid link is actuated in order to generate the necessary motion of a gripper attached at the end of the string. The merit of this type of manipulator is its large work space compared with its simple mechanism and its size. After generating swing motion, the gripper is thrown to a target by releasing a lock of the string and catches it with changing the length of the string. In this paper, we consider the planner two link casting manipulator, that is a non-holonomic system. First, we show the process of casting manipulation and discuss the swing motion phase. Then a method of generating a desired swing motion without the slack of the string is proposed. We investigate the method of choosing a time-periodic reference for the controlled joint by an off-line simulation chart. The effectiveness of the method is evaluated by numerical simulations.
一般社団法人日本機械学会の論文
1998-10-25