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Development and Applications of 3D-Free Weight Lightning System Using Spring Balancer

采用弹簧平衡器的3D自由重量闪电系统的开发与应用

基本信息

批准号：
16360126
负责人：
SUGIMOTO Noboru
金额：
$ 8.19万
依托单位：
Nagaoka University of Technology (2006)The University of Kitakyushu (2004-2005)
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2006
项目状态：
已结题

项目摘要

1. Establishment of Fundamental Theory of Passive Dynamic Control (PDC)The passive dynamic control (PDC) is applied to the weight lightening system using the functionalized spring balancer. The PDC is a new control method for mechanical systems with less energy and more safety, and is based on the inherently safe design by having the balancing operation and the moving operation separately. We have established the fundamental theory of the PDC. Furthermore, in positioning control using the functionalized spring balancer, we have examined some methods to improve control performance, and checked its effectiveness through experiments.2. Development of Functionalized Spring BalancerWe have developed a functionalized spring balancer, which had an MR brake for the hold and a small motor for changing weight. We have also realized the speed control using property of the MR brake. Furthermore, we have examined a new mechanism of the spring system with some small spring elements, in order to ease weight adjustment and enhance safety for break of a spring.3. Estimation of Safety for 3D-Free Weight Lightning SystemWe have estimated the safety of the weight lightning system, and examined methods to enhance the safety.4. Application to Rescue Robot SystemWe have proposed a new type of rescue robot system using the weight lightning system, and have examined its safety. Furthermore, we have developed a system with long-stroke wire.5. Other ApplicationsWe have improved a sling for suspending a human. Furthermore, we have applied the proposed system to a walking support system, and a human support system for person working at high place.

1.被动动力学控制基础理论的建立采用功能化弹簧平衡器，将被动动力学控制应用于减重系统。PDC是一种新的节能、安全的机械系统控制方法，它基于固有安全设计，将平衡操作和移动操作分开。我们建立了PDC的基本理论。此外，在使用功能化弹簧平衡器的定位控制中，我们研究了一些改善控制性能的方法，并通过实验验证了其有效性.功能化弹簧平衡器的开发我们开发了一种功能化弹簧平衡器，它具有用于保持的MR制动器和用于改变重量的小电机。利用磁流变制动器的特性实现了速度控制。此外，我们还研究了带有一些小弹簧元件的弹簧系统的新机构，以方便重量调节并提高弹簧断裂的安全性。3.三维无重力防雷系统的安全性评估我们已经评估了重力防雷系统的安全性，并研究了提高安全性的方法.应用于救援机器人系统我们提出了一种新型的救援机器人系统使用的重量闪电系统，并已检查其安全性。此外，我们还开发了一种长行程钢丝绳系统。其他应用我们改进了一种用于吊人的吊索。此外，我们已经将所提出的系统应用于步行支持系统，和人的支持系统的人在高处工作。