Abstract
This research discusses novel methods of enhancing the casting height of a tethered payload by efficiently using the casting motion generated by a pneumatic cylinder. Generally, the tether is stored into a case fixed near the actuator. The difference in casting heights depends on the method with which the tether is set. The authors propose two methods relying on applying kinetic energy to the tether along with the payload: the unified type and the discharge type. In addition, in order to generate high-speed motion in a light structure, the authors propose a novel cylinder termed the MB Cylinder. The selection of casting method is based on analysis of the velocity provided by this cylinder. In order to approximate to the ideal situation, a structure that mitigates friction between the tether and its storage case is also proposed. Experimental results show the efficiency of the proposed methods.
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