リニアアクチュエータアレイによる物体搬送の試み

魔法のじゅうたんを目指して

抄録

A novel object transfer system named “Magic Carpet” composed of linear actuator array and driven by autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators, which differs from conventional systems like belt conveyor. In this paper, the control algorithm for such “distributed manipulation” is proposed.
Due to recent development of micromachine technology, distributed manipulation becomes more important. This system has a big advantage in its fault tolerance because it has a lot of actuators with poor performance to move a large heavy object. However, it has a serious wiring problem to be solved and homogeneous structure should be introduced because of a large number actuators.
To solve these problems, “combined control of central /autonomous decentralized algorithms” is proposed and evaluated by computer simulation and experiment.