Grant-in-Aid for Scientific Research (C).
|Research Institution||Kobe University|
TADOKORO Satoshi Kobe University, Faculty of Engineering, Dept. Computer & Systems Eng, Associate Professor, 工学部, 助教授 (40171730)
YAMAZAKI Yoshiharu Kobe University, Faculty of Engineering, Dept. Computer & Systems Eng, Associate Professor, Teaching Staff, 工学部, 教務職員(教育職) (90174648)
前田 潔 海技大学校, 機関科, 助教授
HATTORI Motofumi Kobe University, Faculty of Engineering, Dept. Computer & Systems Eng, Professor, Research Associate, 工学部, 助手 (00252792)
KIMURA Tetsuya Osaka Prefecture University, Faculty of Engineering, , Research Associate, 工学部, 助手 (70273802)
TAKAMORI Toshi Kobe University, Faculty of Engineering, Dept. Computer & Systems Eng, Professor, 工学部, 教授 (10031098)
MAEDA Kiyoshi Marine Technical College, Associate Professor
|Project Fiscal Year
1998 – 1999
Completed(Fiscal Year 1999)
|Budget Amount *help
¥4,000,000 (Direct Cost : ¥4,000,000)
Fiscal Year 1999 : ¥1,100,000 (Direct Cost : ¥1,100,000)
Fiscal Year 1998 : ¥2,900,000 (Direct Cost : ¥2,900,000)
|Keywords||parallel robot / cable drive / wire drive / reconfigurable / rescue robotics / manipulator / tendon drive / パラレルロボット / ワイヤ駆動 / ケーブル駆動 / 再構成可能 / リコンフィギュラブル / マニピュレータ / 老人ケア / 災害救助 / マニピュレーター|
The objective of this research is to develop a manipulator mechanism which can re-configure its structure using parallel cable mechanisms. It can be assembled rapidly on site to adapt required tasks. The structure can be changed keeping optimality according to the progress of given tasks. The removal of this robot takes very short time in comparison with conventional manipulators. Therefore, it contributes welfare robotics, material handling, rescue robotics etc, where conventional manipulators are not appropriate.
The following results were obtained in this research.
・A dynamic expression of general cable parallel mechanisms was invented. It was elucidated that general mechanisms can be expressed by a structural equation and two constraining equations.
・A method of reconfiguration for general structures was invented. Equilibrium states, stability, force generation, rigidity etc. were analyzed using a potential function. Using this function, optimal reconfiguration strategy is computed.
ontrol methods for general structures were studied. Difference between an unconstrained system and a constrained system was revealed. It was elucidated that even complete constrained system can become unconstrained state. On the basis of the analysis, a potential-based control method for the unconstrained system, and a tention-based control method for the constrained system were proposed.
・Self identification method for kinematics were invented. A rapid identification method of actuator units on site was invented. Simulation results demonstrated the effectiveness of this method. Error analysis was performed and error estimation algorithm was invented.
・Design, fabrication and experiments of actuator winch units were performed. A portable intelligent actuator unit with a CPU for experiments was designed and fabricated.