Скачать или смотреть Hiryu: Long Reach Manipulator with Thrusters

Suzumori Endo Lab, Tokyo Tech and Yokohama KH Tech Corp proposed a new concept achieving super long reach articulated manipulator with gravity compensation using thrusters. This concept has been presented in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018). The proposed manipulator has (1) ground fixed base, (2) tethers for power and information transmission, (3) articulated links connected by joints, and (4) thruster(s) for weight compensation. Because of weight compensation by thruster(s), the proposed manipulator can be super long reach due to free from gravity. After an experiment using 1 D.O.F experimental setup for principle confirmation, an experimental prototype consisted of passive four-bar linkages, active yaw joints and paired counter-rotating propellers, was developed. We successfully demonstrated the proposed concept by three dimensional motions controlled by thrusters and yaw joints.

Project members: Yoshihide Nakamura, Gen Endo, Hiroyuki Nabae, Koichi Suzumori, and Tetsuo Hagiwara of Yokohama KH Tech Corp.

G. Endo, T. Hagiwara, Y. Nakamura, H. Nabae, and K. Suzumori, A Proposal of Super Long Reach Articulated Manipulator with Gravity Compensation using Thrusters, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, ThBT6.6, 2018

Our lab's URL is here (Japanese): http://www-robot.mes.titech.ac.jp/ This video can be used for informational purposes such as Internet Web pages. This general permission extends to media and personal Web pages except for advertisement. Please clearly state copyright for the source of the material, "Suzumori Endo Lab, Tokyo Institute of Technology". Any further questions, please contact our public relations at Tokyo institute of Technology. Thank you. Mail to : [email protected]