把握形エンドフェクタによる移動物体の捕捉および放出 : 第2報, 捕捉緩衡機構の動的総合 : 機械力学,計測,自動制御

This paper proposes a dynamic synthesis method of kinetic transmission mechanism between fingers and a DC motor in a shock absorbing end effector which yields no impulsive force responses in capture of moving object. In order to reduce equivalent values of inertial force and damping force at colliding point of end effector, singular point of mechanism is utilized by stretching wires between dual fingers. A desired velocity ratio of the transmission mechanism is derived from force equilibrium equations among tension of wires, inertial force and damping force of the DC motor. The Watt-type linkage is chosen as the transmission mechanism, and synthesized in order to satisfy above desired velocity ratio. Computer simulations are carried out to clarify the validity of the proposed mechanism at passive and active shock absorbing.