2A1-I09 未知外力を考慮した柔軟アームの幾何学的解析(ワイヤ駆動系の機構と制御)

概要

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This paper discusses about the flexible arm mechanism restricting an elastic body by multiple wires. This arm mechanism has flexibility for external force, and the tip position of the arm is determined by the elastic deformation of the flexible object. Although we need to consider not only wire lengths but also the force and moment acting on the flexible object to perform the positioning control, in general, to control the flexible arm the simplified deformation analysis is used. This simplified deformation analysis cannot explain the deformation when external force acts on the arm. In this paper, to clarify the deformation of the arm when external force acts on the arm, the additional wires are used. The deformation of the mechanism with the additional wires can calculate by only wire lengths, and the tip position of the mechanism can be controlled even if external force acts on the arm.
2011-05-26