2A2-A25 ワイヤ弛みを考慮したパラレルワイヤ懸垂ロボットの動力学計算法

概要

論文の詳細を見る
A parallel wires driven mechanism realizes a positioning device with a simple and light mechanism using multiple wires. The large scale parallel wire mechanism, however, generates wire's sag which makes difficult to control a suspended object precisely. For an analysis, an accurate simulation and a precise control of the large scale parallel wire mechanism, a dynamics calculation method is required. This study proposes the dynamics calculation method for the large scale parallel wire mechanism considering the sag of wires. One method is based on a finite element modeling of the wires. The model becomes a differential algebraic equation. Another one is a combination method of a quasi-static model of wires and a dynamical model of the suspended object. It is shown that both models can represent the sway and the sag of wires and the later one is more efficient and practical for the dynamics calculation.