1A2-K06 月面ロボット用キャスティング作業システムに関する研究 : 回転運動を利用したペネトレータの投擲(宇宙ロボティクス・メカトロニクス)

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Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we classify launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2011-05-26