チェインドフォーム・マニピュレータの設計 Design of the Chained Form Manipulator
Exploiting the unique features of nonholonomic systems, we have proposed and fabricated the nonholonomic manipulator which is a controllable <i>n</i> joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was used.<br>There are many possible alternatives of designing underactuated manipulators using the nonholonomic gear. The nonholonomic manipulator was designed focusing on the mechanical simplicity. As a result, we have faced with several problems in building a manipulator with many number of joints. In this paper, we propose the chained form manipulator which is designed to solve mechanical and mathematical problems. Presented simulation results show that the new design satisfies control simplicity.
日本ロボット学会誌 17(1), pp.61-67, 1999-01-15
The Robotics Society of Japan