3015 Motion Control of Wire-driven Flexible Link Keeping Stiffness against Load
Details
This paper describes a wire-driven flexible link mechanism which can generate two-dimensional motion keeping stiffness against load. Bending deflection and stiffness of a coil spling are analyzed in case where a point on the coil spring is pulled with two wires. The control inputs of wire to position the tip of the spring resisting load are calculated and examined with the two dimensional trajectry control experiments. A mobile robot with four flexible link mechanism as legs can change its supporting condition by controlling position and stiffness of legs.
