Shape control of hose-like flexible arm by wire's constrains

Yoshiaki Hayashi, Motoji Yamamoto

研究成果: ジャーナルへの寄稿記事

抄録

When a positioning mechanism is used with human such as the case of human care machine, safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. Authors have proposed a flexible positioning mechanism using wire constrains for such purpose. However, the mechanism does not realize multiple degrees of freedom motion. The paper thus proposes new positioning mechanism by multiple wires' constraints. The paper describes a motion analysis of the positioning mechanism which enables to form complex shapes of the mechanism. The mechanism consists of a flexible structure, support disks and multiple wires. As the flexible structure, a pneumatics hose is used. By changing the wire's length of the mechanism, the tip of the flexible mechanism can be positioned in three dimensional space. And also, intermediate points of the mechanism can be also controlled by manipulating wire's length. The relationship between wire's length and the position of flexible mechanism is complicated. In this paper, therefore, displacement of reference points of the mechanism is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism using pneumatic hose.

元の言語英語
ページ(範囲)2327-2334
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
73
発行部数8
出版物ステータス出版済み - 8 1 2007

Fingerprint

Hose
Wire
Flexible structures
Pneumatics
Elasticity

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

これを引用

Shape control of hose-like flexible arm by wire's constrains. / Hayashi, Yoshiaki; Yamamoto, Motoji.

:: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 巻 73, 番号 8, 01.08.2007, p. 2327-2334.

研究成果: ジャーナルへの寄稿記事

@article{dad5e86725614dc187ac4150bd614b31,
title = "Shape control of hose-like flexible arm by wire's constrains",
abstract = "When a positioning mechanism is used with human such as the case of human care machine, safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. Authors have proposed a flexible positioning mechanism using wire constrains for such purpose. However, the mechanism does not realize multiple degrees of freedom motion. The paper thus proposes new positioning mechanism by multiple wires' constraints. The paper describes a motion analysis of the positioning mechanism which enables to form complex shapes of the mechanism. The mechanism consists of a flexible structure, support disks and multiple wires. As the flexible structure, a pneumatics hose is used. By changing the wire's length of the mechanism, the tip of the flexible mechanism can be positioned in three dimensional space. And also, intermediate points of the mechanism can be also controlled by manipulating wire's length. The relationship between wire's length and the position of flexible mechanism is complicated. In this paper, therefore, displacement of reference points of the mechanism is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism using pneumatic hose.",
author = "Yoshiaki Hayashi and Motoji Yamamoto",
year = "2007",
month = "8",
day = "1",
language = "English",
volume = "73",
pages = "2327--2334",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "The Japan Society of Mechanical Engineers",
number = "8",

}

TY - JOUR

T1 - Shape control of hose-like flexible arm by wire's constrains

AU - Hayashi, Yoshiaki

AU - Yamamoto, Motoji

PY - 2007/8/1

Y1 - 2007/8/1

N2 - When a positioning mechanism is used with human such as the case of human care machine, safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. Authors have proposed a flexible positioning mechanism using wire constrains for such purpose. However, the mechanism does not realize multiple degrees of freedom motion. The paper thus proposes new positioning mechanism by multiple wires' constraints. The paper describes a motion analysis of the positioning mechanism which enables to form complex shapes of the mechanism. The mechanism consists of a flexible structure, support disks and multiple wires. As the flexible structure, a pneumatics hose is used. By changing the wire's length of the mechanism, the tip of the flexible mechanism can be positioned in three dimensional space. And also, intermediate points of the mechanism can be also controlled by manipulating wire's length. The relationship between wire's length and the position of flexible mechanism is complicated. In this paper, therefore, displacement of reference points of the mechanism is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism using pneumatic hose.

AB - When a positioning mechanism is used with human such as the case of human care machine, safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. Authors have proposed a flexible positioning mechanism using wire constrains for such purpose. However, the mechanism does not realize multiple degrees of freedom motion. The paper thus proposes new positioning mechanism by multiple wires' constraints. The paper describes a motion analysis of the positioning mechanism which enables to form complex shapes of the mechanism. The mechanism consists of a flexible structure, support disks and multiple wires. As the flexible structure, a pneumatics hose is used. By changing the wire's length of the mechanism, the tip of the flexible mechanism can be positioned in three dimensional space. And also, intermediate points of the mechanism can be also controlled by manipulating wire's length. The relationship between wire's length and the position of flexible mechanism is complicated. In this paper, therefore, displacement of reference points of the mechanism is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism using pneumatic hose.

UR - http://www.scopus.com/inward/record.url?scp=35448951768&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=35448951768&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:35448951768

VL - 73

SP - 2327

EP - 2334

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 8

ER -