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 |
|
|---|
| Project Period (FY) |
2013-04-01 – 2016-03-31
|
| Project Status |
Completed (Fiscal Year 2015)
|
| Budget Amount *help |
¥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.
|
Report
(4 results)
Research Products
(4 results)
