To provide a parallel wire mechanism capable of easily moving a work object over a wide area in a direction of force applied to the work object.SOLUTION: A parallel wire mechanism 1 includes: a plurality of wires; a plurality of winches 6; a work object; a sensor 11 for measuring force applied to the work object; a first calculation unit 12 for calculating at least any one of a target position, a target speed, and target acceleration of the work object by calculating at least any one of virtual inertia, viscosity, and spring constant based on the force measured by the sensor 11; a second calculation unit 13 for calculating a pay-out length of each wire for moving the work object according to at least any one of the target position, the target speed, and the target acceleration for each motor 7 of each winch 6; and an output unit 14 for outputting a command value of the pay-out length to the motor 7 of each winch 6.SELECTED DRAWING: Figure 3

    【課題】作業対象物に力を加えた方向に広域且つ容易に作業対象物を移動させることができるパラレルワイヤ機構を提供する。【解決手段】一実施形態に係るパラレルワイヤ機構1は、複数のワイヤと、複数のウインチ6と、作業対象物と、作業対象物にかかる力を測定するセンサ11と、センサ11によって測定された力に基づいて仮想的な慣性、粘性及びばね定数の少なくともいずれかを計算して作業対象物の目標位置、目標速度及び目標加速度の少なくともいずれかを算出する第1算出部12と、作業対象物が目標位置、目標速度及び目標加速度の少なくともいずれかで移動するための各ワイヤの巻き出し長さを各ウインチ6の各モータ7ごとに算出する第2算出部13と、巻き出し長さの指令値を各ウインチ6のモータ7に出力する出力部14と、を備える。【選択図】図3


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    Title :

    PARALLEL WIRE MECHANISM


    Additional title:

    パラレルワイヤ機構


    Contributors:

    Publication date :

    2021-08-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / B66D Haspeln , CAPSTANS



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