カウンタウェイトを利用したワイヤ懸垂システムの姿勢制御

抄録

We propose the wire suspension system for automatic inspection which has a large weight capacity and wide range of movement as a positioning mechanism for heavy objects. However, the vibrations is caused by disturbance and if the object suspended by wires moves to end of the workspace, it inclines from the initial posture. This paper shows our development of orientation control device using counterweight system for solving the above problems. We derived the motion equation of this system and executed feedback control for convergence of a target. We found that counterweight is effective for orientation control by means of experiments.