2015 Fiscal Year Final Research Report
Development of Far-Reach Tethered Working Tool between Mobile Crane Platforms
| Project/Area Number |
25820081
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Saitama University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| 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 |
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| 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.
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| Free Research Field |
ロボット工学
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