5本のワイヤを用いた新型ワイヤ懸垂機構の開発

抄録

A new type crane for positioning of a robot hand in indoor space is proposed. The crane consists of five wires, and the four wires among them with the winding mechanisms at the four corners of the ceiling are connected to one small ring. The other one suspends an object through the small ring, and the length of the wire is controlled by a reel in the center of one side of the ceiling. Since the proposed system has one kinematic redundancy when positioning of the suspended object, the ring height is given in advance to solve the inverse kinematics. A prototype system is developed to verify the concept of the proposed mechanism and the inverse kinematics.