2A2-H04 複数ワイヤ拘束による柔軟アームの形状制御(ワイヤ駆動系の機構と制御)

概要

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When a positioning mechanism is used with human such as the case of human care machine, safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. Authors have proposed a flexible positioning mechanism using wire constrains for such purpose. The mechanism consists of a flexible structure, support disks and multiple wires. As the flexible structure, a pneumatics hose is used. By manipulating the multiple wires' length of the mechanism, the constrained points of the flexible mechanism can be positioned in three dimensional space. In this paper, therefore, wire's force is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism using pneumatic hose.
一般社団法人日本機械学会の論文
2007-05-11