Development of Power Assisted Lifter Using Wire-Driven Parallel Mechanism

最近，熟练工人的短缺甚至要求提高工厂建筑工地中起重、移动和安装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动力的最有效手段之一。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协助少数工人在起重或携带重型设备，通过确定的驱动器的功率检测的基础上，操作员适用于对象的功率。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，对机器人的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机器人运动控制方法，该速度雅可比矩阵反映了机器人的运动速度与驱动器绕线速度之间的关系。3.提出了具有速度反馈的运动控制技术; 4.提出了PAL无法直接检测的水平方向和垂直方向速度的估计技术; 5.仿真结果表明，该方法能够实现与参考文献一致的目标运动，从而证实了所提出的技术的可行性。6.实验产生的结果表明实验运动和参考运动之间基本一致，从而证实了所提出的技术的性能。

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.