450 パラレルワイヤ機構を用いた人間・機械協調型リフティングシステムに関する基礎的研究

概要

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Recently, in plant construction sites, it is required to make the operations of lifting, moving and setting heavy equipment more efficient, because of the shortage of skilled workers. For this requirement, Human-Machine Cooperative Lifting System (HMCLS) is considered as one of the most effective ways that can utilize the unique sense of human and the physical power of the machine. In this paper, the control problem is studied on the HMCLS that is driven by parallel wire mechanism. The objective of this study is to develop a new control technique for the wire-driven HMCLS that can move heavy equipment such as large pipes precisely, without any influence of geometric non-linearity. The effectiveness of the control technique is verified through experiment.
一般社団法人日本機械学会の論文
2002-09-13