柔軟ロッドを有するキャスティングマニピュレータに関する研究

抄録

Research on outdoor work robots is in progress in the field of such as agriculture, forestry, civil engineering, construction, and space. One of the characteristics required in such a work environment is to have a large working space. Therefore, a manipulator that is not only small and lightweight but also has a large working space is required. The study proposes a casting manipulator with a flexible rod. Analysis of such systems generally requires a large computational cost. Thus, a computationally efficient formulation method is necessary for advanced design and control, and this study proposes a formulation method based on ANCF and LCP. For the flexible rod part, the Absolute Nodal Coordinate Formulation (ANCF) is applied, and for the relationship between the tip of rod, wire, and hand, the linear complementarity problem (LCP) is applied. A model that combines these methods is constructed and perform numerical analysis. In addition, validation experiments are conducted to evaluate the validity of the model. Finally, the effectiveness and problems of the proposed method are demonstrated by comparing the numerical analysis and experimental results.