2A1-I01 カテナリー曲線と懸垂物の動力学に基づく大規模パラレルワイヤ懸垂機構の運動表現(ワイヤ駆動系の機構と制御)

概要

論文の詳細を見る
Parallel wires driven mechanisms realize a positioning device with a simple and light mechanism using multiple wires. The large scale parallel wire mechanism, however, generates wire's sag and produce wire's swing by the motion of wire and the suspended object. It is difficult to control the suspended object precisely without considering wire's sag and swing. For the purpose of precise control, this paper propose a motion model of the large scale parallel wire mechanism considering sag and swing of the wires. It is a combination method of a quasi-static model of wires and a dynamical model of the suspended object. Experimental and simulation examples show an effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2011-05-26