テンセグリティ構造とパラレル機構を組み合わせたマニピュレータに関する研究

（6自由度機械モデルの設計と制御）

抄録

We developed a foldable 6DOF manipulator that combines tensegrity structures and parallel mechanisms. This manipulator is composed of four tensegrity structures (consisting of nine wires and three rods) and three 2DOF parallel mechanisms, which are connected via 18 double equivalent spherical joints (two equivalent spherical joints that share a center of rotation). The double equivalent spherical joint is designed so that the ends of two limbs of the parallel mechanism and the end of one rod of tensegrity structure share one point. Each tensegrity structure is equipped with turnbuckles to adjust the tension, which enables the manipulator to be deployed and folded. Moreover, numerical solutions of the direct kinematics problems of the parallel mechanism and the 6DOF manipulator were obtained by the convergence calculations using Jacobian matrices, where the matrices are derived based on the conditions of the static equilibrium. By using the solution, a simulator was developed to visualize the range of motion of the manipulator, and it was confirmed that its width was 1.3[m], depth was 1.4[m], and height was 0.4[m]. We also developed a control system using an analog servo circuit with position feedback loop, and devised an algorithm for hand position control of the 6DOF manipulator based on the sequential calculation of the Jacobi matrix. As a result of experiment, it was possible to control the hand position, although position errors were observed due to the modeling errors and the elongation of the wires.