定荷重ばねを用いたパラレルペア・パラレルワイヤロボットの高速動作時の位置決め制御実験

Abstract

For high speed pick-and-place work, we develop a 3 D.O.F parallel paired cable robot motivated by Dleta type parallel link robot. The robot consists four paired parallel wires enabling always keeping horizontal motion which is suitable for pick-up-place task. The paper proposes a mechanism using constant force spring to reduce the motor torque of the robot and high stiffness. The paper also shows advantages of using the constant force spring by position control experiments.