円筒バネを用いた伸縮マニピュレータの開発

抄録

In this study, we developed a telescopic manipulator using a cylindrical spring. We installed iris hand at the tip of the manipulator. At the iris hand, we analyzed the range of three fingers grasping object and developed the iris hand with the optimal shape. The telescopic arm designed using speed control system and the hand operated by a single actuator were connected. In addition, by using a disturbance observer, equivalent disturbances due to weight can be suppressed, and it is possible to expand and contract stably even if there is a load at the tip of the cylindrical spring.