CubiX: 環境に接続して活用する可搬型ワイヤ駆動パラレルロボット
CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
アクチュエータを内蔵し、最大8本のワイヤを環境に接続して自身を駆動する可搬型ワイヤ駆動パラレルロボットCubiXを開発した。これにより、作業空間の制限なく任意の場所でワイヤ駆動構造を構築できる。
著者: Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki, Sota Yuzaki, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location.
