Host: The Japan Society of Mechanical Engineers
Name : The 15th International Conference on Motion and Vibration(MoViC 2020)
Date : September 09, 2020 - September 11, 2020
The purpose of this research is to realize a large-scale robot arm. One of the author presented an idea to utilize tensegric structure to realize large-scale robots. Tensegric structure is made of multi-stage compression members, joints that connect them and tension wires connecting compression members to shape robot arm. This structure was proposed by Professor Saito of the Faculty of Architecture, Nihon University in a broad sense of the tensegrity structure. By changing the length of wires, it can be applied as robot arm. To examine the stability of multi-stage tensegric robot arm, experimental analysis using scaled model is carried out. In this experiment, we aim for a large robot arm of 20 m, but since it is difficult to reproduce it in reality, we use a model reduced to 1/10. The unit at this time is a unit created from a 3D printer using a PLC. Twenty models of this model are connected and experimented in two ways to investigate attitude control under static conditions. The first method is to give a restoring force by using a piano wire in the joint part. The second method is to generate tension by hanging a weight on the wire. According to experimental analysis, Tensegric arm with 5 stages can change configuration freely to some degree while the arm with 7 stages possess quite unstable. Moreover, beyond 8 stages, the Tensegric arm could not withstand the load and collapsed.
