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History of Robotics Research and Development of Japan1994ManipulationDevelopment of an Ultrahigh Speed Robot FALCON Using Parallel Wire Drive Systems

Sadao KawamuraRitsumeikan University
Won ChoeRitsumeikan University
Hitoshi KinoRitsumeikan University
Satoshi TanakaRitsumeikan University
Ken KatsutaRitsumeikan University
To realize ultra-high-speed motion of a robot, it is necessary to improve its acceleration performance. For this study, to obtain good acceleration performance, we adopt a strategy to reduce the robot mass extremely. For this strategy, a parallel wire-driven mechanism was developed. Particularly, we propose an ultra-high-speed robot with six degrees of freedom with controllable robot hand position and orientation. When wire mechanisms are used for fast motion, an important problem is vibration arising from the wire elasticity. To overcome this vibration problem, we propose a control method to use internal forces among the wires. Using the vibration-suppression method proposed herein, an ultra-high-speed robot with seven wires and six degrees of freedom (FALCON-7) is controlled. The experimentally obtained results demonstrate the maximum speed of 13 m/s and maximum acceleration of 40 G despite the use of small 60 W motors.  
超高速ロボット
Ultra-High Speed Robot
 

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Correspondence papers


Sadao Kawamura, Won Choe, Satoshi Tanaka, and Hitoshi Kino:Development of an Ultrahigh Speed Robot FALCON Using Parallel Wire Drive Systems

Journal of the Robotics Society of Japan, Vol. 15, No. 1, pp. 82-89, 1997 (in Japanese).

Tetsuya Morizono, Mizuto Ida, Takahiro Wada, Jing-Long Wu, and Sadao Kawamura:A Trial of Virtual Tennis using a Parallel Wire Drive System

Journal of the Robotics Society of Japan, Vol. 15, No. 1, pp. 153-161, 1997 (in Japanese).

Related papers


[1]川村 貞夫,木野 仁,崔 源,勝田 兼「パラレルワイヤ駆動システムにおけるワイヤ座標系制御法」,日本ロボット学会誌,Vol.16 No.4, pp. 122-128, (1998)

[2]崔 源,内倉 義景,川村 貞夫,小林 紘士,「パラレル型ワイヤ駆動機構を用いた風速計トラバースシステムの開発」,日本風工学会誌,No.74 pp. 25-33, (1998)

[3]木野 仁,矢部 茂,Chien Chern Cheah,川村 貞夫,有本 卓「パラレルワイヤ駆動システムの作業座標系制御法とそのロバスト性」日本ロボット学会誌 Vol.18, No.3, pp. 411-418, (2000)

[4] Sadao Kawamura, Hitoshi Kino, and Choe Won “High-speed manipulation by using parallel wire-driven robots”, Robotica Vol.18, pp. 13-21, (2000)

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