The transformation of the Multistage Tensegric Arm that the tension gives to the unit

抄録

In designing a large robot arm that possesses height of 10m or more, the increase of stress due to the weight of the robot is a big problem. In order to realize a large robot arm, a robot arm incorporating a Tensegric structure was proposed. Tensegric structures are already used in the field of construction where combination of compression members with wires are used to maintain their posture and control. In this research, we focused on the Tensegric unit that composes the robot arm by varying the lengths of wires, and analyzed the mechanical deformation due to the load by the mass of the entire arm. Tensegric unit is supposed to be made by combining cylinders and we investigated the relationship between the unit shape and mechanical deformation and sought the optimum unit shape that is strong against deformation. This research use the theoretical methods based on material mechanics to analyze the deformation such as bending, bending and buckling of the unit, and use a Tensegric arm with a total length of 4 m as a model. As a results of analysis, bending stress and bending can be suppressed by increasing the outer diameter and inner diameter of the cylindrical section of the unit. Then, it is proved that the load generated in the unit of the Tensegric robot arm is acceptable for general mechanical materials, and validity from a mechanical aspect of the Tensegric robot arm was proved.