タケダ　マサカズ   Masakazu Takeda   武田　真和    所属   追手門学院大学  理工学部 機械工学科    職種   講師
発表年月日	2021
発表テーマ	Non-smoothな摩擦を考慮した2リンクマニピュレータシステムの最適化設計
会議名	Dynamics & Design Conference
主催者	一般社団法人 日本機械学会
発表形式	その他
開催期間	2021～2021
発表者・共同発表者	立和名 涼平,菅原 佳城,武田 真和
概要	In recent years, space manipulators have been used in various situations in space development. Arm length and multi-link of arms are increasing due to expansion of work area. Also, they have been reduced in weight and flexibility in order to restrict the weight of the launch vehicle and reduce launch cost. However, since each motor used for each axis of the manipulator requires one motor driver, increasing the number of motor drivers and the weight of the entire manipulator system are problems due to multi-linking. Therefore, this paper proposes a system that can operate with fewer drivers by switching the motor driver and the piezoelectric driver for braking on each axis. However, complex behavior occurs due to the non-smooth friction of multiple brakes, which affects the control performance. Therefore, it’s necessary to analyze and design the control system in consideration of them. In this paper, ANCF is applied to 2-flexible link manipulator and the formulation of non-smooth frictional force using LCP is introduced. Also, the behavior of the system is confirmed by numerical analysis.