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成果報告書詳細
管理番号20170000000655
タイトル*平成28年度中間年報 次世代人工知能・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2017/7/25
報告書年度2016 - 2016
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 and its control
method using high tensile strength synthetic fiber ropes. Recent research progress in a
synthetic fiber rope implies that there are possibilities to develop super lightweight,
super compact, super long reach and/or 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) We investigated the basic property of synthetic fiber ropes under impact loading
by falling mass of 5.1kg from 1 meter height. During the experiments, tensile
force and displacement were measured.
(b) We also measured creeping elongation for 10,000min by applying static force of
100kgf. Various synthetic fiber ropes were tested and their results were
quantitatively compared.
(2) “Super” tendon driven components that achieve super lightweight, super compact,
super long reach and/or super redundant mechanisms
(a) We derived mechanical design parameters to achieve 90% of maximum tensile
strength of the rope when a joint is driven by a grooved pulley.
(b) We proposed Bundled Wire Drive, which allows twisting and sliding between
multiple synthetic fiber ropes, and basic operations were verified by the
developed manipulator with an elbow joint and two wrist joints.

(3) “Super” long-reach articulated arm by using “Super” tendon driven components
(a) We confirmed the feasibility of revolute joint type “Super” long-reach articulated
arm with 10 degree of freedoms, whose diameter is less than 0.3 meter, while the
total length is 10 meter. We also investigate prismatic joint type “Super” long-
reach articulated arm using an initial experimental apparatus.
(b) Dynamic property of long distance wire-pulley drive system using a synthetic
fiber rope was examined by using an experimental apparatus. We also establish
a method to measure elasticity, viscosity and plasticity coefficients of a synthetic
fiber rope using static/dynamic force loading machine.
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