複数のワイヤ懸垂型ロボットの協調による薄板からの棒の引き抜きにおける力学モデル

抄録

The mechanical behavior of a rod suspended by the wires attached to multiple manipulators are analyzed when it is pulled out from a hole in a thin plate. The conditions for wedging phenomenon are clarified by the statics calculations with various hole diameter D, plate thickness t, and rod diameter d.