投球ロボットのボール飛距離を最大化する関節自由度数と運動の設計

抄録

This paper proposes a robot design method which designs degrees of freedom (DOFs) and a motion of a robot. In this paper, a target task is to make a long throw, and multi DOFs ball throwing robot is designed. Design parameters are the robot DOFs and motion pattern, and they are designed to maximize ball flying distance under long throw task conditions. To define the robot DOFs as design parameter, it is assumed that intermediate links of the robot have equal parameters, and these links are chained to construct the whole link system. Because of this assumption, the motion equation, which is utilized in the task conditions, is determined by given DOFs. Proposed method is applied to the ball throwing robot model, and its DOFs and motion are designed. As a result, 5 DOFs robot body and the throwing motion is obtained, and the ball flying distance reaches to 2.38 m.