2003年
拮抗型ワイヤ駆動機構における内力の回転周性に及ぼす影響(共著)
日本機械学会論文集(C編)
- ,
- 巻
- 69
- 号
- 683
- 開始ページ
- 1798
- 終了ページ
- 1804
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.1299/kikaic.69.1798
- 出版者・発行元
- 一般社団法人日本機械学会
This study aims at clarifying the effects of internal force on the structural rotational stiffness of antagonized wire drive mechanism. First, we use the wire drive model to analyze the structural stiffness due to internal force, and measure the structural stiffness as a function of the internal force. Through numerical calculation and experiment results, it is revealed that the tensile internal forces can effectively change the structural rotational stiffness of the antagonized wire drive mechanism. Moreover, it is clarified that the structural stiffness due to internal force is strongly affected by the mechanical parameters such as the length of arm and the position of actuators. Next, the effective ways to generate structural stiffness of antagonized wire drive mechanism by using internal force are proposed in this paper.
- リンク情報
- ID情報
-
- DOI : 10.1299/kikaic.69.1798
- ISSN : 0387-5024
- ISSN : 1884-8354
- CiNii Articles ID : 110002379063
- CiNii Books ID : AN00187463