超長尺ワイヤ駆動型多関節アームの開発

―干渉ワイヤ駆動機構と自重補償機構による駆動方式の提案―

抄録

Recently long-reach multi-joint robot manipulator is widely required. In this research, we suggested a new mechanism which is the combination of a coupled tendon-driven mechanism and a weight-compensation mechanism in order to develop hyper long-reach and slim manipulator. We calculated that this mechanism can lead to a slim arm diameter by saving the total of wires widths. Unfortunately, this mechanism doesn't compensate arm weight completely at any arm posture. Therefore, we suggested a method of calculation of an optimal weight-compensation wire tension. Moreover, we did a trial calculation of wires tension at some arm postures. In future work, we will conduct experiments with a prototype model.