S115014 劣駆動型ワイヤ駆動機構の運動力学解析([S115-01]機械システムにおける機構の設計と要素技術(1))

抄録

This paper describes kinetostarics analyses of underactuated wire-driven mechanisms. Assuming posture angles of wires as rigid links, configuration of output link chain will be calculated with kinematics analysis. As forward analysis, ideal configuration of the link chain will be determined so that the center of gravity of the link chain will be minimized. Required motion of control link chain can then be calculated based on directions of wire pulling forces obtained with the statics analysis of output link chain with desired configuration while the desired configuration will be improved in case of impossible configuration. The proposed method is applied to analyze a human type spatial marionette and is confirmed its effectiveness.