バンドルドワイヤドライブの提案

―ワイヤの捻り摺動を許容する中継機構―

抄録

Recently, high-strength synthetic fibers which have strength equal to stainless wires and weight 1/8 of stainless wires have been developed. The high-strength synthetic fibers are flexible and easy to use, therefore it is utilized in most of the wire-driven robot. In this paper, we focus on the low friction characteristics of high-strength synthetic fibers and propose a design method that allows twist of the wire and sliding contact between wires. By the design method proposed, it can achieve a wire relay mechanism and possible to save space and reduce number of parts in the wire-driven system. We developed wire-driven arm which has elbow joint having a movable range of 360 degree and wrist joint with two degrees of freedom, and confirmed its operation.