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History of Robotics Research and Development of Japan2005BusinessDouble-Arm Working Machine ASTACO

Ishii AkinoriHitachi Construction Machinery Co., Ltd
Tomita KunitsuguHitachi Construction Machinery Co., Ltd
Ishibashi HidetoHitachi Construction Machinery Co., Ltd
Fujishima KazuoHitachi Construction Machinery Co., Ltd
Oota YasunoriHitachi Construction Machinery Co., Ltd
Omata TakayukiHitachi Construction Machinery Co., Ltd
Egawa EijiHitachi Construction Machinery Co., Ltd
Although hydraulic shovels originally got their start as excavators, in recent years they have won praise for their versatility, and are also being used for complicated tasks such as demolition. To improve the ability of such equipment to deal with this complex work, Hitachi fitted it with two arms like those of a human being, developing a double-arm working machine "ASTACO", which equipped with double arms in front. The main features of these machines are as follows.
  1. The ability to use double arms to perform complex tasks such as cutting objects while holding them, and bending long objects
  2. The ability to operate both arms simultaneously using hydraulic systems capable of driving multiple actuators powered with a single pump
  3. The ability to operate both arms simultaneously, using the right hand for the right front arm, and the left hand for the left front arm
  4. Utilization of a kinetic single-lever system for control, providing intuitive operation and reducing fatigue
  5. The positioning of the front arms is calculated in three dimensions to prevent the left and right arms coming into contact
In October 2008 a 7-t test machine began trials with a fire brigade for rescue use in disaster situations. As a result of this evaluation, two later-generation machines fitted with specialized equipment were formally accepted for use in March 2011. In addition, We developed the 13t grade double-arm working machine "ASTACO NEO" in parallel. In June 2013, worked on support such as the debris removal work at the suffering spot of Miyagi that suffered big damage by East Japan great earthquake disaster. "the ASTACO NEO" catches the trust of the incorporated administrative agency NEDO (New Energy and Industrial Technology Development Organization) and is the machine which Hitachi Construction Machinery developed.
双腕作業機ASTACO
Double-arm working machine

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Related papers

[1] 石井:“２つのフロントを有する双腕作業機の開発”, 建設の施工企画,No.670, pp 31-35, 2005.(in Japanese)

[2] A.Ishii: “Operating System of a Double-Front Work Machine for Simultaneous Operation”, ISARC2006, pp 539-542, 2006

[3] 石橋,冨田,小俣,藤島:“解体・スクラップ処理に適した双腕型作業機械の提案”, 日本機械学会 ロボティクス・メカトロニクス講演概要集2008, pp 2P1-B09(1)-(2), 2008. (in Japanese)

[4] 冨田,石橋,小俣,江川,藤島:“作業分析に基づく双腕作業機の改良点抽出”, 日本機械学会 ロボティクス・メカトロニクス講演概要集2010, pp 1A1-A29(1)-(2), 2010.(in Japanese)

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