運動学的冗長性を有するケーブル駆動パラレルロボットのケーブル配置に関する研究

抄録

Analysis of cable-configurations of novel redundant planar three degrees of freedom (dof) cable-driven parallel robot (CDPR) ”SEIMEI” is discussed in this paper. This robot has the pulley embedded inside the moving part as an additional rotational dof for enlarging the rotational workspace. The three-dof hand attached to the pulley is controlled by four-dof mechanism, so SEIMEI has kinematic redundancy. The pulley is driven by the friction forces between it and loop-cables. This mechanism enables unlimited rotation of the pulley. CDPR is driven only when all cable tensions are positive. To do so, it must satisfy wrench-closure condition. In addition, SEIMEI needs to avoid slipping between loop-cables and the pulley. In this paper, analysis of cable configurations which satisfy wrench-closure and non-slipping condition of SEIMEI are discussed. Two cable-configurations among sixteen are derived and be confirmed by numerical test.