スラスタ駆動型超長尺多関節アーム"飛龍-III"の開発

―ワイヤープーリ系による平行リンク機構と中空パイプを用いたねじり剛性の向上―

抄録

We proposed a long-reach lightweight articulated arm "Hiryu-III" using weight-compensation with thrusters and a wire-pulley system. The robot developed in this study equipped with two thrusters for weight-compensation and pitch axis motion control in each joint. The previous study, Hiryu-II, had the disadvantage of low rigidity around the roll axis. To solve this problem, we propose a method using wire-pulley system in a single pipe, which is equivalent to a parallel link mechanism. Based on the above consideration, we fabricated a robot and conducted a motion experiment. As a result, the robot was successfully operated with two links, however the vibration occurs at landing. This was caused by the low rigidity of the pitch axis, and it is considered that the main factor of this problem is the elastic deformation of the keyway of the tensioner of the wire-pulley system.