成果報告書詳細
管理番号20160000000573
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 高強度化学繊維を用いた『超』腱駆動機構と制御法の研究開発
公開日2016/7/22
報告書年度2015 - 2015
委託先名国立大学法人東京工業大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約In this project, we investigate “Super” tendon driven mechanisms using a high tensile strength synthetic fiber rope and its control method. Recent research progress in a synthetic fiber rope implies that there are possibilities to develop super lightweight, super compact, super long reach and super redundant robot by using synthetic fiber ropes as artificial tendons, because of its lightweight, high tensile strength and high flexibility. We will investigate basic properties of synthetic fiber ropes as a robotic component such as maximum tensile strength, durability, creeping property, efficiency of power transmission and so on. Next, we will develop “Super” tendon driven components. Concretely speaking, the components are rope fixation method without decreasing maximum tensile strength, lightweight joint driving mechanism with high impact tolerance, Bundled Wire Drive to achieve compactness and so on. Then, we develop “Super” long reach articulated arm by using “Super” tendon driven components.

(1) Investigation of basic properties of synthetic fiber ropes as a mechanical member of a driving mechanism.
(a) Development of an impact loading tester
Impact tester for synthetic fiber ropes is developed. Load and elongation of impacted ropes can be measured by using the tester.
(b) Finite-element analysis of Mises stress in a rope wound around a pulley
To estimate detailed stress distribution in a rope wound around a pulley, we conducted finite-element analysis considering static friction between the rope and pulley. As a result, when the fractional elongation of the rope is fixed, a higher stress is generated in the rope wound around a smaller pulley. The smaller the diameter of the pulley is, the maximum Mises stress point gets closer to the top (i.e., summit) of the pulley.

(2) “Super” tendon driven components that achieve super lightweight, super compact, super long reach and super redundant mechanisms
(a) We developed terminal fixation method that can sustain 95% of maximum tensile strength whose volume is less than (30 times rope diameter)^3.
(b) We establish testing method and develop an experimental apparatus to optimize the shape of grooved pulleys for joint driving.
(c) We proposed Bundled Wire Drive, which allows twisting and sliding between multiple synthetic fiber ropes, and develop initial testing apparatus. It is verified that the tensions of the ropes almost keep constant when the multiple synthetic fibers are twisted and collided each other.

(3) “Super” long reach articulated arm by using “Super” tendon driven components
(a) We propose a new weight compensation mechanism using a thick fiber rope driven by a large pneumatic actuator, in conjunction with coupled tendon driven mechanism.
(b) We estimated mass and structural strength of one segment of “Super” long reach arm which is 8 meters long with 12 degrees of freedom. The test apparatus consisting of two units and three revolute joints was developed. We demonstrated basic motion of the arm.
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