Development of Power Assisted Lifter Using Wire-Driven Parallel Mechanism

最近，熟练工人的短缺要求在工厂施工现场提高起重、移动和设置重型设备的操作效率。为此，我们提出了一种由平行线机构驱动的动力辅助升降机（PAL），作为利用人类独特的感官技能和机器的物理力量的最有效手段之一。平行导线机构类似于平行连杆机构，不同之处在于它使用导线而不是连杆。PAL通过检测操作员对物体施加的功率来确定执行器的功率，从而帮助少数工人提升或搬运重型设备。本研究的主要目标是开发PAL。在本研究中，基于二维三自由度分析模型研究了运动控制。结论如下：1。提出了一种基于速度雅可比矩阵递推辨识的物体运动控制方法，该方法表达了物体运动速度与执行机构绕丝速度之间的关系。在实验中，我们通过提出的运动控制技术证实了物体是连续运动的。然而，由于识别误差导致了目标运动性能的下降。提出了具有速度反馈的运动控制技术。我们还提出了在pal中无法直接检测到的水平方向和垂直方向的速度估计技术。仿真结果表明，目标运动与参考文献一致，从而验证了所提技术的可行性。实验结果表明，实验运动与参考运动基本一致，从而证实了所提出技术的性能。

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.