線形和機構を用いた昇降台車による一様でない案内面の生成

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2022/03/01

タイトル(英語): Generation of Non-single-plane Guiding Surfaces by Adjustable Lift Cart using Linear Equation Mechanism

著者名: 樋口　峰夫（徳島文理大学理工学部），河田　淳治（徳島文理大学理工学部），松本　功（徳島文理大学理工学部），森本　滋郎（徳島文理大学理工学部），藤澤　正一郎（徳島文理大学理工学部）

著者名(英語): Mineo Higuchi (Faculty of Science and Engineering, Tokushima Bunri University), Junji Kawata (Faculty of Science and Engineering, Tokushima Bunri University), Isao Matsumoto (Faculty of Science and Engineering, Tokushima Bunri University), Jiro Morimoto (Faculty of Science and Engineering, Tokushima Bunri University), Shoichiro Fujisawa (Faculty of Science and Engineering, Tokushima Bunri University)

キーワード: 昇降台車，無段変速機，差動機構，受動ロボティクス，案内面，法線ベクトル　　lift cart，continuously variable transmission，differential mechanism，passive robotics，guiding surface，normal vector

要約(英語): We are developing devices that apply a linear equation mechanism in which three joints are coupled with a differential mechanism through continuously variable transmissions (CVTs). One of these devices is an adjustable lift cart in which three joints are connected to two axes of the left and right wheels of the cart and to one axis that lifts the cart's loading platform. The adjustable lift cart can lift the loading platform up or down to a desired height while it is moved horizontally by human power. The cart's loading platform moves forward and upward (or downward) as if it is on a virtual guiding surface. Until now, the virtual guiding surface generated by the linear equation mechanism has been a flat surface defined by a single normal vector. In this work, we show that not only flat but also curved surfaces can be generated by setting the normal vector as a function of the displacement or velocity of the cart.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.142 No.3 （2022） 特集Ⅰ：スマートシステムと計測・制御技術 －Withコロナ社会に向けて－　 特集Ⅱ：高機能化合物半導体エレクトロニクス技術と将来システムへの応用　特集Ⅲ：国際会議ICESS 2020

本誌掲載ページ: 313-321 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/142/3/142_313/_article/-char/ja/