2A1-H05 大規模パラレルワイヤ駆動系におけるワイヤ動力学モデル(ワイヤ駆動系の機構と制御)

概要

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Parallel wire driven mechanism realizes a useful positioning mechanism with simple mechanism by multiple wires. The suspended object of the mechanism can be moved freely in large workspace. Wires are usually straight in small mechanism. In large parallel wire driven mechanism, sag of wire by their mass may be large. Sway of wire because of its inertia may also be large when suspended object is driven with large velocity. Wires' length and wires' tension are changed by wires' sag and their motion. For such case, suspended object can't be controlled accurately. To estimate the wire's sag problem when wire moves, we need to have dynamical model of the wire. This paper thus discusses dynamics model for wire and inverse dynamics considering wires' dynamics. Wire's dynamics analysis needs a element of wire tension vector. Inverse dynamics for suspended object and wire dynamics are coupled. This paper proposes an iterative calculation method for the coupling inverse dynamics and wire dynamics.
一般社団法人日本機械学会の論文
2008-06-06