2A1-H09 接触時における複数ワイヤ拘束による柔軟アームの形状(ワイヤ駆動系の機構と制御)

概要

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When positioning mechanisms such as the case of human care machines are used with human, 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 this 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. However, the mechanism is easily deformed by an external force because of its elasticity. In this paper, therefore, the shape of mechanism is analyzed based on beam bending theory when an external force acts to the mechanism. The theoretical analysis is verified by an experimental flexible mechanism.
一般社団法人日本機械学会の論文
2008-06-06