F-0313 High-Speed Casting Manipulation

Abstract

In order to realize high speed casting to enlarge the working space of a casting manipulator that is composed of a rigid link, flexible link like tether and a gripper, three methods of generating its motion, that is transient swinging, rotating and extending have been proposed. Then, numerical simulations have been carried out to show their effectiveness from the points of view of the casting speed of the gripper and the requied time for generaing motion.