Abstract
The goal of this research is to realize a large robot arm over 20 meters long. In the previous study, we discussed the load reduction of a multi-stage robot, the control algorithm of the arm, and the balancing of moments and forces in a simple model. Based on the above, this paper develops theoretical equations for how the spring constant and tension on the wire are related to the direction of arm movement. We have succeeded in finding a posture that provides stable moment balancing.
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