リニアアクチュエータアレイによる物体搬送の試み

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書誌事項

タイトル別名
  • Attempt of Object Tranfer by Linear Actuator Array
  • リニアアクチュエータアレイ ニ ヨル ブッタイ ハンソウ ノ ココロミ マホウ ノ ジュウタン オ メザシテ
  • Aiming for Magic Carpet
  • 魔法のじゅうたんを目指して

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抄録

A novel object transfer system named “Magic Carpet” composed of linear actuator array and driven by autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators, which differs from conventional systems like belt conveyor. In this paper, the control algorithm for such “distributed manipulation” is proposed.<br>Due to recent development of micromachine technology, distributed manipulation becomes more important. This system has a big advantage in its fault tolerance because it has a lot of actuators with poor performance to move a large heavy object. However, it has a serious wiring problem to be solved and homogeneous structure should be introduced because of a large number actuators.<br>To solve these problems, “combined control of central /autonomous decentralized algorithms” is proposed and evaluated by computer simulation and experiment.

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