2A2-A27 1本のワイヤの取り回しによるパラレルワイヤ懸垂機構の設計

概要

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Aim of this research is development of a parallel wire suspended mechanism that can control the end-effector with manual operation and by adjusting the length of wire. Both operating and control characteristics of parallel wire mechanism depend on several geometrical constraints such as trolley location and route of wire. A geometrical constraint adjustable parallel wire mechanism was proposed, and range of motion and operational force affected by trolley location were analyzed by simulation and experiment. As a result, it was shown that trolley location defined maneuverable area, and relationship between trolleys location and operation characteristic. By using these results, a parallel wire mechanism that can control the end-effector in the direction of three axes with one wire was developed.
一般社団法人日本機械学会の論文