S1903-1-3 テンセグリティ構造を利用した宇宙用ロボットアームの伸展機構の提案(宇宙構造・材料)

概要

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Large space structure should be constructed by robots not by human astronauts because of human safety and constructing cost. Besides, space manipulator should be deployable and foldable to reduce transportation cost and to put in rocket's payload. Tensegrity structure consists of rigid bars and flexible wires. It is suitable to make large structure and change its shape by changing wire's length. In this study, Applying tensegrity structure to extendable robotic arm is proposed. The robotic arm is composed of some tensegrity structural units that consist of 3 bars and 12 wires. When target edge position and attitude of the robotic arm are inputted, shape of the robotic arm can be determined by finding balanced shapes of each tensegrity units. A balanced shape of a tensegrity unit is searched and found by modifying target shape of the tensegrity unit.
一般社団法人日本機械学会の論文
2009-09-12