Development of an Autonomous Transfer Machine by Using Pneumatic Bellows Actuators

在这项研究中，我提出了一种新型的自主转移机。该机由升降机械部分、移动机械部分和悬挂机械部分三部分组成。在提升机械部分，一个用于提升的气缸由波纹管执行器旋转。此外，所述支架附着于所述气缸杆的尖端。此外，支架悬挂与对抗波纹管执行器。传输模式分为三种模式。它们是初始设置模式，转移辅助模式和静止模式。操作员可以使用开关箱来改变传输模式。为了降低升降运动的负荷程度，利用Quick Mag系统对升降轨迹和升降姿态进行了研究。进一步，考虑了机器对用户的提升力模式。这是因为当抬力恒定时，使用者从椅子上站起来时会感到疼痛。根据一些实验结果，推导出升力方程。用初始持力和支架位置来构造方程。此外，为了研究使用者靠在支架上时所感受到的负担程度，测量了乳酸和脉搏。在此基础上，利用PcVector系统实现了重心位置的测量。通过这些结果可以看出，改变重心位置可以减轻使用者的度负担。

In this study, I proposed a new type of an autonomous transfer machine. The machine is constructed with three mechanical parts which are lifting mechanical part, mobile part and suspension part. In the lifting mechanical part a cylinder for lifting is rotated by bellows actuators. Further, the supporter is attached to the tip of the cylinder rod. Moreover, the supporter is suspended with antagonized bellows actuators. The transfer mode is divided into three modes. Those are initial setting mode, transfer assist mode and standstill mode. The operator can change the transfer modes by using a switch box. In order to decrease the burden degree of the lifting motion, I investigated the lifting trajectory and the lifting posture by using the Quick Mag system. Further, the lifting force pattern of the machine to the user is considered. This is because that the user feels pain as he or she stands up from a chair when the lifting force is constant. From some experimental results, the lifting force equation is derived. The equation is constructed with initial holding force and the supporter position. Moreover, in order to investigate the burden degree which user feels when he or she lean on the supporter, both lactic acid and the pulse is measured. Furthermore, the center of gravity position is measured by using PcVector System. Through these results, it is cleared that the burden of degree to the user is reduced by change of the center of gravity position.