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

Sadao Kawamura	Ritsumeikan University
Won Choe	Ritsumeikan University
Hitoshi Kino	Ritsumeikan University
Satoshi Tanaka	Ritsumeikan University
Ken Katsuta	Ritsumeikan 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.

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