Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Robotic manipulators that use thrusters for weight compensation are an active research topic because they can exceed the limits of elongation. However, existing manipulators that use thrusters have limited elongation because the hardware design is not sophisticated enough. This paper focuses on overcoming these limitations and realizing longer articulated manipulators. As a means of realizing such a manipulator, we adopted the mechanism of Hiryu-II, which was previously developed by our research group. In order to cancel the moment of each link, the thruster position was derived in consideration of the balance between the static load of the manipulator and the thrust force. Consequently, we demonstrated the feasibility of the proposed manipulator with a prototype of length 6.6 m.
