パラレルワイヤ駆動機構の張力評価による上体動作支援装置の開発(機械要素,潤滑,工作,生産管理など)

概要

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This study develops an upper body motion assist system that aims at enabling disabled people with lower limb disability to control their upper body attitude by their own will. The assist system employs a parallel wire mechanism of which the platform is suspended and moved by wires. Parallel mechanisms can arrange the actuators on the base and have advantages such as high power, high speed and high accuracy ; they offer other advantages in lightness and body flexibility due to the wire actuating. Thus, they are suitable for the assist system attached to the body. However, as parallel wire mechanisms have multi-degree-of-freedom and redundancy, the analysis of tension applied to the wires to drive their moving platform is difficult. This paper proposes the effective method for evaluating the maximum wire tension induced by external forces in arbitrary-direction, by the eigenvalue analysis with considering the vector-close condition. The method makes it possible to design a parallel wire mechanism to be compact and driven by small force. By using the proposed method, we develop the upper body motion assist system and confirm its availability.
社団法人日本機械学会の論文
2007-03-25