Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Mechanical design and control of a novel cable driven parallel robot RYOMA are discussed in this paper. A pulley is embedded in the moving part which enables the unlimited rotation of the hand. The design goal of RYOMA is set as the robot performs the ADEPT test cycle within 0.3 sec. Trajectory, velocity, and acceleration pattern for the ADEPT CYCLE are generated by LinuxCNC. By off the shelf MAXSON DC motor, moving part of RYOMA generate more than acceleration of 10G and maximum velocity of 6m/s, that enables the goal motion. If the base frame of RYOMA is 3m x 3m x 3m and the drum diameter is 15mm, the design conditions are satisfied in the specified area.
