160 人間-機械協調型半自動吊搬装置

概要

論文の詳細を見る
In the production factories and the construction site, as workers become older and the number of workers decrease, the demand for the automation of physical tasks is strong. Focusing on the automation of plant construction sites, one of the most laborious tasks is positioning pipes, valves, and accessories. Specifically, this work contains operations of lifting the object to be installed via multiple manual winches. To automate this task, a parallel wire mechanism, that must be using inverse kinematics or a Jacobian matrix, can be applied. However, these methods need information of position and posture of the actuators and the objects before using systems. In this study investigates the feasibility of a power-assisted lifting device that directly detects the applied human force using load sensors, without using inverse kinematics or a Jacobian matrix, and that operates the actuators according to the detected force.
社団法人日本機械学会の論文
2003-09-16