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1. Introduction
3. Basic Configuration of
the Insulator Washer-I
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Thus, in the Insulator Washer-I, we focused on the fluctuate by nearly two times from the base of the
point that the insulators targeted for cleaning all have a insulator up to the tip. For this reason, the gripper
shape in which circular fins are stacked up, and we newly mechanism which grasps the fin is configured so as to
introduced a mechanism called end-effector separation
mechanism. This is not a device which simply attaches
D r i v e roller
a brush to an effector on the end of a manipulator, but
rather, it is a rotating washer unit with brushes that is
provided as a separable end-effector that separates from the
manipulator during the washing operation, and conducts
the washing operation using the self-propulsion functions
of a rotational washing unit while following along the
fins of the insulators.
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adapt to these kinds of fluctuations in diameter. The even though the end-effector separation mechanism is
external appearance of the rotational washer unit is introduced.
indicated in Fig. 5 . it has a weight of 9 kg, and a Cylindrical coordinate type drive mechanism to conduct
rotational speed of 10 cm/sec. the rotational and up and down movements around the
central axis is more promising. However, when
attempting to realize long stroke cylindrical coordinate
movement with a long ball spline and a long stroke ball
screw, and a rotating table that rotates all these
mechanisms, again a large scale structure was necessary,
and it was difficult to make it light weight.
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When drive rings 1 and 2 of this mechanism are rotated by combining the drive forces of the two installed
with the motors 1 and 2 in opposite directions, both actuators. For this reason, the output to weight ratio can
produce the spiral movement of a screw, and prismatic up be heightened, and this makes it easier to lighten the
and down movement is produced without the arm weight of the device. The effect of the combined
rotating. When drive rings 1 and 2 are rotated in the same actuators can be regarded as one application of the design
direction, the propulsion force on the axis direction of the concept called "coupled drive" which the authors have
pipe is canceled, and the arm produces rotational proposed [ 11.
movement around the axis pipe. This relation is shown
in Table 1. As far as the authors investigated there seems to be no
previous instmces of the 2 d.0.f driving mechanism
Table 1 Motion principle of slant wheel drive similar to the one proposed here. The ball screw and
mechanism spline combined driving mechanism of THK Co. Ltd. 121
uses same driving mechanism in principle, but the
I1P
-. I DOWN
~. 1 RIGHT 1 LEFT I mechanism dtxouples prismatic and rotational motions
MOTION MOTION REVOLUTION REVOLUTION
and the above mentioned feature of iv) can not be
ccw 1 cw 1 ccw acquired. Moreover it uses special screw shaft and difficult
MOTOR to make Bight weight and long stroke driving mechanism.
No. I The outer appearance of parts of this manipulator are
indicated in Fig.7 and Fig.8.
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Fig.8 Total view of the Insulator Washer-I Fig.9 Rail and movable base of the Insulator Washer-I
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References
1) Shigeo Hirose, Mikio Sato, Coupled Drive of the
Multi-DOF Robot, Proc. IEEE Int. Conf. on Robotics
and Automation, Scottsdale, Arizona 1610-1616 (1989)
2) Catalog of LM system, THK Co. Ltd. Japan
5. Conclusions
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