Conference Paper 高強度化学繊維によるワイヤ駆動のための基礎的検討 ―第四報:長軸間距離試験機の製作と周波数応答―

高田, 敦  ,  Takata, Atsushi  ,  遠藤, 玄  ,  Endo, Gen  ,  鈴森, 康一  ,  Suzumori, Koichi  ,  難波江, 裕之  ,  Nabae, Hiroyuki  ,  水谷, 義弘  ,  mizutani, yoshihiro  ,  鈴木, 良郎  ,  Suzuki, Yoshirou

Description
近年,高機能,高性能な化学繊維の開発が盛んである.筆者らはこれらの化学繊維を用いたワイヤを高強度化学繊維ワイヤと呼び,金属ワイヤに代替してこれらの特性を活かしたロボットの実現を目指している.本報では,高強度化学繊維ワイヤが駆動系の周波数特性に与える影響を検証するために長軸間距離試験機を製作し,周波数特性試験を行った.また,ワイヤの粘弾性測定から長軸間距離試験機の伝達関数を求め,測定した周波数応答と比較しおおむね一致することを確認した.
Synthetic fiber ropes, which are lightweight and have high tensile strength and flexibility, have attracted attention as an alternative to stainless steel wire rope.This study clarifies various physical characteristics of synthetic fiber ropes to design a tendon-driven mechanism. This paper investigates a viscoelasticity model for Ultra High molecular weight Polyethylene (UHPE) rope and its dynamic property applied to a long distant antagonistic tendon-driven servo system. We confirm that UHPE can be modeled by four element model, and obtained its transfer function of a tendon-driven servo system.The validity of the transfer function was confirmed by a frequency response experiment. %This paper takes note of performance of synthetic fiber rope on tendon-driven servo system. %We estimated a viscoelasticity of a UHPE(Ultra High Molecular Weight Polyethylene) rope by four element model and using the viscoelasticity to obtained the transfer function of a tendon-driven servo system.
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http://t2r2.star.titech.ac.jp/rrws/file/CTT100742048/ATD100000413/1P2-G08(髙田_化学繊維四報長軸間試験).pdf

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