受動回転ガイドを用いた蜷局式ケーブル格納機構の提案

抄録

This paper proposes a simple and practical mechanism for winding cables without the use of slip rings. In this mechanism, the cable fed from the cable drive is guided by a rotating guide and placed in a curled-up shape. This disperses torsion and eliminates slip rings. In addition, the guide is propelled by the reaction force from the cable to achieve a simple mechanism with a small number of actuators. This paper also describes the constraints on guide geometry and the guide geometry design method based on the constraints. The prototype machine was confirmed to be capable of winding long cables in an orderly manner and discharging them without twisting.