Development of Tendon Driven Multi-Joint Manipulator Based on Coupled Drive

Abstract

Mechanism and control of a newly developed coupled tendon-driven multi-joint manip-ulator, abbreviated as CT arm, are discussed. CT arm introduced here has the specific tendon traction force transmission mechanism, in which a pair of tendons to drive a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism makes the most of coupled drive function of the tendon traction forces and thus has the possibility to exhibit enormous payload capability. The manipulator also has the characteristics to be solidly structured and to be inexpensively manufactured because of its mechanical simplicity. Basic discussion is also made on the specific control of the CT arm. The control algorithm which minimizes the squared sum of the traction force of the tendons while satisfying given restrictions is introduced. The validity of the control method is shown by the computer simulations. Key Words: CT arm, tendon drive, multi-joint manipulator, coupled drive, unified tendon-traction control 1. ‚Í ‚ ¶ ‚ß ‚É OE´Žq˜FOE´ŽqOE´Žq˜F "à ‚â ‰» Šw ƒv ƒ‰ ƒ" ƒg"à ‚È ‚Ç‹@ Ší ‚ª•ö 'Ž ‚· ‚é•¡ ŽG ‚È ŠÂ ‹« ‚Å ‚Ì OEŸ •¸,"_ OEŸ •ì ‹AE ‚â,‹@ ŠB '• 'u ‚Ì'g ‚Ý-§ ‚Ä •ì ‹AE ‚È ‚ǂ𠃕ƒ{ ƒb ƒg‰» ‚µ‚ae ‚¤ ‚AE‚· ‚é•ê • ‡,•á ŠQ •¨ ‚AE ‚Ì•Ú •G ‰ñ "ð ‚ð-e ˆÕ ‚É‚Å ‚« ‚é•Û ‚Ì •@ ‚Ì ‚ae ‚¤ ‚È '½ Ž©-R"x ‚Ì'½ ŠÖ •ß ƒ} ƒj ƒs ƒ… ƒOE•[ ƒ^ ‚ð Žg-p ‚· ‚é ‚± ‚AE ‚ª-L OEø ‚Å ‚ ‚é.‚µ ‚© ‚µ,‚± ‚Ì ‚ae ‚¤‚È '½ ŠÖ •ß ƒ} ƒj ƒsƒ… ƒOE•[ ƒ^ ‚ð ‚¢ ‚´ŽÀ-p "I ‚É Žg-p ‚µ‚ae ‚¤ ‚AE‚· ‚é ‚AE,"ñ ‚ ‚Ì 'å ‚«‚È ‹Z •p "I-â'è "_ ‚ª •‚ •ã ‚µ‚Ä ‚-‚é.‚» ‚ê ‚ç‚Í,ƒ} ƒj ƒs ƒ… ƒOE•[ ƒ^•d-Ê ‚ª •• 'Ê ‚Ì •Ý OEv ‚ð ‚· ‚é ‚AE‰ß'å ‚É ‚È ‚Á‚Ä ‚µ‚Ü ‚¤-â 'è "_ ‚AE,•ç '· ‚È Ž©-R "x ‚Ì • §OEä ‚É ŠÖ ‚· ‚é-â'è "_ ‚Å ‚ ‚é. ‚± ‚Ì ‚¤‚¿,'ae1‚Ì ‹@ •\ •d-Ê ‚É ŠÖ ‚· ‚é-â 'è "_ ‚Í OEˆ'è "I ‚Å ‚ ‚é.'½ ŠÖ •ß ƒ} ƒj ƒs ƒ… ƒOE•[ ƒ^ ‚Í,'½ •" ‚Ì"\ "® ŠÖ•ß ‚ð '• "õ ‚µ‚½ '· ‚¢ ƒA •[ ƒ€‚Å ‚ ‚é.‚Ü ‚½ ‚±‚Ì "\ "® ŠÖ•ß ‚ð‹ì "® ‚· ‚邽 ‚ß ‚Ì ƒA ƒNƒ`ƒNƒ`ƒ… ƒG •[ ƒ^ ‚Í,OE» •Ý "ü Žè ‚Å ‚« ‚éOEÀ ‚è‚» ‚Ì •o-Í •d-Ê ‚ª '˜ ‚µ ‚-OEÀ 'è ‚³‚ê ‚Ä ‚¢ ‚é.‚» ‚Ì ‚½ ‚ß,•Ý-ˆ ‚Ì ƒA ƒN ƒ` ƒ… ƒG •[ ƒ^‚ð ‚»‚Ì ‚Ü ‚Ü ŠÖ•ß ‚É•Ý 'u ‚· ‚é ‚± ‚AE‚Å '½ ŠÖ •ß ƒ} ƒj ƒsƒ… ƒOE•[ ƒ^‚ð •\ •¬ ‚µ‚ae ‚¤‚AE‚· ‚é ‚AE,ƒA ƒNƒ`ƒNƒ`ƒ… ƒG •[ ƒ^ •o-Í ‚Í ƒA •[ ƒ€•d-Ê ‚ð ‹ì "® ‚· ‚é ‚¾ ‚¯ ‚É •Á "ï ‚³ ‚ê, ‰Â "À •d-Ê ‚ª ‚Ù ‚AE‚ñ ‚Ç •o‚¹ ‚È ‚¢OE‹ ‰Ê ‚AE ‚È ‚é.‚± ‚ê ‚Å ‚Í ŽÀ-p "I ‚È '½ ŠÖ•ß ƒ} ƒj ƒsƒ… ƒOE•[ ƒ^ ‚ÍŽÀ OE» ‚Å ‚«‚È ‚¢. ‚± ‚Ì ‚ae ‚¤‚È‹@ •\ •d-Ê ‚É‹Nˆö‚É‹Nˆö ‚· ‚é• §-ñ ‚ð 'Å "j ‚· ‚邽 ‚ß ‚Ì ŽŽ ‚Ý ‚Í ‚± ‚ê‚Ü ‚Å ‚¢ ‚-‚ ‚© •s ‚í ‚ê ‚Ä ‚¢ ‚é.‚½ ‚AE‚¦ ‚Î, i) "Á Žê ‚È ‰ñ"] ŠÖ•ß ‚ð Žg-p ‚µOEy-ʉ» ‚ð OEv ‚ë ‚¤ ‚AE ‚µ‚½ ‚à ‚Ì1)•`5).ii)Šî 'ä •" ‚É‹-Í ‚È ƒX ƒ‰ƒCƒ_ ‚ð•Ý ‚¯,•K-v ‚È ‹ì "®-Í ‚ð ‚Å ‚« ‚邾‚¯ ‚» ‚Ì ƒX ƒ‰ƒCƒ_ ‚É •‰ 'S ‚³ ‚¹ ‚é ‚± ‚AE ‚Å ƒA •[ ƒ€ ‚ÌOEy-ʉ» ‚ð •s ‚¨‚¤‚¨‚¤ ‚AE‚· ‚é ‚à‚Ì6).iii)ƒA ƒN ƒ` ƒ… ƒG •[ƒ^ ‚ÍŠî 'ä •" ‚É•Ý 'u ‚µ,‚» ‚Ì"®-Í ‚𠃕 ƒC ƒ" ‚â"Á Žê ‚È "` 'B ‹@ •\ ‚Å Še •ß ‚É"` 'B ‚µOEy-Ê ‰» ‚ðOEv ‚ë ‚¤ ‚AE ‚µ ‚½ ‚à ‚Ì7)•`14)‚È ‚Ç ‚Å ‚ ‚é.-{ ˜_• ¶ ‚Å ‚Í ‚±‚Ìiii)‚É •ª-Þ ‚³ ‚ê ‚é ƒ• ƒC ƒ"‹ì "® •û Ž® ‚É '•-Ú‚· ‚é.ƒ• ƒC ƒ"‹ì "®•û Ž® ‚É‚à ‚¢ ‚ë ‚¢ ‚ë‚È ƒ^ ƒC ƒv‚ª •l ‚¦ ‚ç‚ê ‚é ‚ª,‚± ‚±‚Å ‚Í,•M ŽÒ ‚炪 ‚· ‚Å ‚É'ñ ˆÄ ‚µ‚½ Š± •Â ‹ì "®15)‚AE˜A OE‹ •· "®‹@ •\16)‚AEOEÄ ‚Ô •Ý OEvŽè-@ ‚AE‹@ •\ ŠT "O ‚ð "± "ü ‚µ,•V ‚µ‚¢ ƒ• ƒC ƒ"Š± •Â ‹ì "® OE^ '½ ŠÖ •ß ƒ} ƒj ƒsƒ… ƒOE•[ ƒ^ ‚ð 'ñ ˆÄ ‚· ‚é.ˆÈ •~ ‚± ‚ê ‚ðCTƒA •[ ƒ€(Coupled Tendon-driven Arm)‚AE OEÄ‚Ô.‚» ‚µ‚Ä ‚±‚ÌCTƒA •[ ƒ€ ‚É ‚ae‚ê ‚Î,'˜ ‚µ ‚-OEy-Ê •‚ •o-Í ‚È '½ ŠÖ•ß ƒ} ƒj ƒs ƒ… ƒOE •[ ƒ^ ‚ª ŽÀ OE» ‚Å ‚« ‚é ‚± ‚AE‚𠎦 ‚·.-{ ˜_ • ¶ ‚ÌOEã "¼ ‚É ‚Í'½ ŠÖ•ß ƒ} ƒj ƒsƒ… ƒOE•[ ƒ^ ‚Ì 'ae2‚Ì-â 'è "_ ‚Å ‚ ‚é• § OEä-@ ‚É‚Â ‚¢‚Ä OEŸ "¢ ‚· ‚é.‚» ‚µ‚Ä,CTƒA •[ ƒ€"Á-L ‚Ì "Á •« ‚ð •Å 'å OEÀ ‚É"-Šö ‚³‚¹ ‚é ‚½ ‚ß ‚É•K-v ‚È •ç '· Ž©-R "x ‚Ì Šî-{ "I ‚È • § OEä-@ ‚ð 'ñ ˆÄ ‚µ,‚» ‚Ì-L OEø •« ‚ðOEv ŽZ ‹@ ƒV ƒ~ƒ… ƒOE •[ ƒV ƒ ‡ƒ"‚É ‚ae ‚Á‚Ä OEŸ "¢ ‚· ‚é. 2. •V ‹@ •\ "± "ü ‚Ì ‚½ ‚ß ‚Ì •€ "õ CTƒA •[ƒ€ ‚ð "± "ü ‚· ‚é•€ "õ ‚AE ‚µ‚Ä,'½ ŠÖ•ß ƒ} ƒj ƒsƒ… "OE‹ž•H‹AE'åŠw•HŠw•" "OE‹ž"s-Ú•• ‹ae'剪ŽR2-12-1