直動シリンダー代替を指向したコンベックス折り返し型伸縮機構の開発

抄録

We are developing 6-DOF machining robot applying new parallel manipulator system with our folding convex type telescopic manipulators. Compared with the conventional linier actuators, our convex type manipulator can make long reach and are very light. They are also compact when they are reeled up. Our previous model, type H manipulator is originally designed for snow-plow task and not designed for linier cylinder substitute, so the mass balance around the telescopic direction of the manipulator is shifted to the side-mounted driving motor. This mechanical unbalance also causes conflicts between each manipulator. This paper describes the development of the re-designed new telescopic manipulator type I, for the substitute of linier cylinders.