2A2-B10 キャスティングマニピュレータの大ダイナミックレンジ張力制御特性を有するワイヤ繰り出し機構の開発

概要

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Casting Manipulator is a robot manipulator which throws gripper linked flexible string. The mid-air position and attitude of its gripper are controlled by flexible string's tension. In order to realize large work space and precisely position and attitude control of gripper, real out mechanism with large dynamic range tension control characteristics was proposed. The mechanism is composed modified spinning reel system which controls tension by torque and effective radius of its rotor. Rotor torque is controlled by a hysteresis brake and its effective radius is controlled by a ling driven by slider-crank mechanism. The relationships between rotor torque, effective radius and tension have been investigated theoretically and experimentally. And results show that proposed mechanism controls tension by rotor torque and its effective radius.
一般社団法人日本機械学会の論文