Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
The authors are developing a cylinder lifting robot inspired by U-shape suspension, a method for a worker to work stably and stationary on a cylinder using a rope. A physical model of the robot must be constructed to discuss the robot’s motion and to design the robot in detail. However, it is not easy to deduce a physical model for this robot because it moves not only in three dimensions, but also contains a flexible components; rope. Therefore, we measured the forces acting on each part of the robot and attempted to construct a physical model from the analysis of the experimental results. In this paper, we aim to construct a fundamental physical model of the robot in a state in which the robot is stationary on a cylinder and in a state in which the robot is moving at such a low speed that the effect of acceleration is negligible.
