U字吊り式円柱昇降ロボットのモデル化のための力覚センサを用いた力計測と基礎的な力学解析

抄録

In this study, in order to clarify the mechanical relationship of forces and moments acting on an U-shaped suspension type robot climbing a cylindrical column, we examine methods to measure the force received from the cylinder acting on the robot’s wheels using a 6-axis force sensor. This robot supports its body with ropes and its own weight, like an U-shaped suspension used by column workers to prevent them from falling, and moves through the column in a spiral path with the driving force of its wheels. In order for this robot to achieve stable lifting and lowering motions, it is crucial to know the magnitude of the pushing force of the wheels and rope against the cylinder. In this paper, we propose a method to measure the force acting at the contact point of the wheel and cylinder with 6-axis force sensor, and show the validates of the method experimentally.