プロペラによる自重補償を行うワイヤ駆動型超軽量冗長多関節アームの提案

抄録

This paper proposes a wire-driven hyper-redundant articulated arm with active weight compensation using propellers. The arm is serially connected articulated arm and multi-rotors are installed to compensate its weight. The power is supplied by a tether. The joints are driven by wires using synthetic fibers. This arm achieves long operational time and robust safety operation compared with conventional drones.