Study on Casting Manipulation. 2nd Report. Experiments of Swing Control and Gripper Throwing.

仁, 有隅; 一仁, 横井; 徹雄, 神徳; 清, 小森谷

doi:10.1299/kikaic.65.4356

Cited by 2 publications

(3 citation statements)

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“…Xu et al developed the golf swing robot which hit a golf ball by a golf club fixed in a manipulator (9) . Arisumi et al developed the casting manipulator which the gripper itself is thrown (10) . The casting manipulator is also possible to throw an object by grasping an object with the gripper.…”

Section: Application To Catapulting An Objectmentioning

confidence: 99%

A Rubber-Reinforced Serial Chain of Torsion Springs for an Impulse Force Generator based on Snap-through Buckling of Closed Elastica

Ichikawa

Mochiyama

Fujimoto

2010

ICAM

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In this paper, we propose a rubber-reinforced serial chain of torsion springs for an impulse force generator based on snap-through buckling of closed elastica. The distinguished feature of the proposed device is to utilize an elastic energy of rubbers for generating impulse force. Utilizing an elastic energy of rubbers, its weight reduction of conventional ratio 11[%] is realized with maintaining its high elasticity and flexibility.The proposed device can generate the maximum momentum 14 [Ns] with only the required maximum driving torque 15 [Nm]. The values shows that the maximum momentum per unit of the maximum driving torque of the device is about 1.2 times as large as the impulse force generator using conventional one.

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Section: Application To Catapulting An Objectmentioning

confidence: 99%

A Rubber-Reinforced Serial Chain of Torsion Springs for an Impulse Force Generator based on Snap-through Buckling of Closed Elastica

Ichikawa

Mochiyama

Fujimoto

2010

ICAM

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“…5) Reeling up phase: To reel up the string with swinging the rigid link in order to retrieve the target. We have proposed a method of generating a desired pendulum swing motion [5], phase (1), and a planner for launching the gripper to a target [6], phase (2). The effectiveness of the proposed methods for these two motions has been verified by simulations and experiments.…”

Section: B Casting Manipulatormentioning

confidence: 99%

“…We have discussed the control of launching the gripper to the target [6]. But, there are some problems that cannot be solved only by launch control, as follows.…”

Section: A Necessity Of Midair Controlmentioning

confidence: 99%

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

2008

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We have developed a casting manipulator that includes a flexible light string in the link mechanism to enlarge the workspace of the manipulator. In the casting manipulation, an endeffector is launched to its target by releasing the string connected to it, and its trajectory is controlled by the tension of the string. In this paper, we present the midair control of the end-effector. As a simple way, we propose the braking technique to apply impulsive force to the end-effector by braking the movement of the string. Examining dynamic characteristics of the string when an impulsive force applies to it, we show that the midair motion of the end-effector can be controlled by the braking technique. Then, we apply the braking technique to the multiple braking control of the trajectory. We confirm the effectiveness of the proposed method through simulations and experiments using casting manipulator hardware.

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Study on Casting Manipulation. 2nd Report. Experiments of Swing Control and Gripper Throwing.

Cited by 2 publications

References 1 publication

A Rubber-Reinforced Serial Chain of Torsion Springs for an Impulse Force Generator based on Snap-through Buckling of Closed Elastica

A Rubber-Reinforced Serial Chain of Torsion Springs for an Impulse Force Generator based on Snap-through Buckling of Closed Elastica

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

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