多段テンセグリックロボットアームに対する最適軌道の応力緩和効果について

抄録

Thanks to great progress of robotics, practical use of the robot has greatly developed in the past 20 years. However, there are still several problems to build a gigantic robot with ordinary structure because of the Square-cube law. Tensegric structure could be a suitable solution of building a robot over 10m height. Tensegrity is formed by a set of disconnected rigid elements connected by continuous network of tensile elements. It possesses so light weight that the larger size structure can be constructed. In the previous researches we already found the stress dispersion effects of multistage Tensegric structure arm. To apply Tensegric structure as a robot arm, a trajectory shaping procedure taking account of stress dispersion is presented, while the obtained trajectory was not smooth. This paper discusses a new idea of procedure to obtain the optimal trajectory for a Multistage Tensegric Robot Arm. The stress dispersion effect of the obtained trajectory is also discussed.