航空機内での運用に向けた高伸縮比六軸加工ロボット

抄録

Working distance is an important factor for constructing robots in aircrafts. The required specs of the robot are wide working area but compact and light weight enough for carrying into aircrafts. Our ultrawide telescopic arm, which is a variation of storable tubular extendable member, is a good candidate, because it is light weight, wide range and highly durable structure. In this research, we propose a novel 6-axis machining robot applying the arm. The robot consists of a Stewart platform style parallel mechanism, and 6 arms are connected to the base and end effector. The robot allows 6 degrees of freedom movement of the end effector by the extension and contraction of each arm.