U字吊り式円柱昇降ロボットに働く力の計測法の提案と基礎的な物理モデルの構築

抄録

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.