Theoretical study on mechanical stability of tensegric manipulator

抄録

This paper aims at the realization of a large robot arm over 20m height. In the previous research, advantage of multistage robot to ease stress is confirmed and its control algorithm is discussed. However, its mechanical property has not been investigated precisely. In this paper, a method to prevent the wire supporting the self-weight of the arm from breaking is examined. The method is to wind a spring around the wire. It was found that this method allows the designer to set the maximum tension that acts on the wire.