Development of Power Assisted Lifter Using Wire-Driven Parallel Mechanism

最近，熟练工人的短缺要求工厂建筑工地提升、移动和安装重型设备的作业效率甚至更高。为此，我们提出了一种由平行线机构驱动的动力辅助升降器(PAL)，作为利用人类独特的感觉技能和机器的物理力量的最有效手段之一。平行线机构类似于平行杆机构，不同之处在于它使用钢丝而不是连杆。PAL通过检测操作者施加到物体上的功率来确定执行器的功率，从而辅助少数工人举起或搬运重型设备。本研究的主要目的是开发PAL。本文基于二维三自由度解析模型对运动控制进行了研究，主要结论如下：1.提出了一种基于速度雅可比矩阵递推辨识的目标运动控制技术，该矩阵表达了目标运动速度与执行器绕线速度之间的关系。2.通过实验验证了所提出的运动控制技术是连续运动的。3.提出了具有速度反馈的运动控制技术。4.提出了在PAL中不能直接检测到的水平和垂直方向的速度估计技术。5.仿真结果表明，目标运动可以得到与参考文献一致的结果，从而证实了所提技术的可行性。6.实验结果表明，实验运动与参考文献基本吻合，从而验证了所提技术的性能。

Recently, the shortage of skilled workers has required even increasing efficiency for the operations of lifting, moving and setting heavy equipments in plant construction sites. For this purpose, we propose a Power-Assisted Lifter(PAL) which is driven by a parallel wire mechanism, as one of the most effective means for utilizing the unique sensory skills of a human being and the physical power of a machine. A parallel wire mechanism is similar to a parallel link mechanism, except that it uses wires instead of links. The PAL assists a small number of workers in lifting or carrying heavy equipment by determining the power of an actuator based on detecting the power which the operator applies to the object The main objective of this study is to develop the PAL. In this study, motion control is investigated based on the two-dimensional 3-DOF analytical modelThe conclusions are as follows :1.A object motion control technique using recursive identification of the velocity Jacobian matrix which expresses a relation between the object movement speed and the wire winding speed of an actuator was proposed.2.We confirmed that the object was moved continuously by the proposal motion control technique in the experiment. However, the decreased performance of the object motion caused by the identification error was observed.3.We proposed the motion control technique that has velocity feedback.4.We also proposed the estimation technique of velocities in horizontal and vertical directions which cannot be directly detected in the PAL.5.The simulation result showed that the object motion could be performed in agreement with the reference, thereby confirming the feasibility of the proposed techniques.6.The experiment yielded a result showing substantial agreement between experimental motion and the reference, thereby confirming the performance of proposed technique.