Development of Far-Reach Tethered Working Tool between Mobile Crane Platforms

• Project/Area Number: 25820081
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Saitama University
• Principal Investigator: HODOSHIMA Ryuichi 埼玉大学, 理工学研究科, 助教 (10432006)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2014: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000); Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
• Keywords: テザーロボット / 広域作業システム / パラレルテザー制御 / 車両協調走行制御 / テザー懸垂移動装置 / 機構設計 / テザードロボット / テザー懸垂機構 / 負のエネルギ / 群ロボット / 協調走行制御 / 負のエネルギー

Outline of Final Research Achievements

Automatic running vehicle system and tether-suspended tool have been developed for working robot system in a large area to reduce human work load.
In this study, I aimed to construct a foundation of far-reach tethered working robot tool by improving the conventional working robot system in a large area. The proposed working robot tool can conduct traveling or work in a wide range and perform various works. I tackled this issue by focusing on multiple mobile cranes for traveling and a parallel manipulator using multi-tether drive system for work.
My main achievements were twofold: 1) I developed the prototype of far-reach tethered working robot tool by an end-effector controlled by two tethers stretched in loop shape between two mobile cranes. 2) I verified the validity of a grass cutter system that is one of the applications of far-reach tethered working robot tool.

Research Products

• [Presentation] 走行車両間のテザー懸垂移動装置を用いた屋外広域作業システムの開発 ―第2報：移動制御システムの構築と検証実験― (2016)
  • Author(s): 下鳥宇宙
  • Organizer: ロボティクス・メカトロニクス講演会2016
  • Place of Presentation: パシフィコ横浜（神奈川県横浜市）
  • Year and Date: 2016-06-08
• [Presentation] 走行車両間のテザー懸垂移動装置を用いた屋外広域作業システムの開発 ―第1報：屋外広域作業システムの概要および実験システムの試作― (2015)
  • Author(s): 望月恒星
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（東京都足立区）
  • Year and Date: 2015-09-03
• [Remarks] 埼玉大学 大学院理工学研究科 設計工学研究室
  • URL: http://design.mech.saitama-u.ac.jp/index.html
• [Remarks] 埼玉大学 大学院理工学研究科 設計工学研究室
  • URL: http://design.mech.saitama-u.ac.jp/index.html