Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2023
Date : August 28, 2023 - August 31, 2023
Multi-stage tensegric manipulator is already presented to realize a gigantic robot. In previous research, the trajectory to the target position was generated and the moment of the joint angle was calculated while the movement of coordinates were ignored. In this paper theoretical analysis taking the movement of coordinates into account is developed and the torque that acts around the center of gravity of the unit is derived. The results show that positive horizontal movement and negative vertical movement of the unit increase the torque in the counterclockwise direction. In future research, aiming to calculate the required tension based on this research and expand the application range of the theoretical formula.
