Generation of Non-single-plane Guiding Surfaces by Adjustable Lift Cart using Linear Equation Mechanism

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  • 線形和機構を用いた昇降台車による一様でない案内面の生成
  • センケイ ワ キコウ オ モチイタ ショウコウダイシャ ニ ヨル イチヨウ デ ナイ アンナイメン ノ セイセイ

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<p>We are developing devices that apply a linear equation mechanism in which three joints are coupled with a differential mechanism through continuously variable transmissions (CVTs). One of these devices is an adjustable lift cart in which three joints are connected to two axes of the left and right wheels of the cart and to one axis that lifts the cart's loading platform. The adjustable lift cart can lift the loading platform up or down to a desired height while it is moved horizontally by human power. The cart's loading platform moves forward and upward (or downward) as if it is on a virtual guiding surface. Until now, the virtual guiding surface generated by the linear equation mechanism has been a flat surface defined by a single normal vector. In this work, we show that not only flat but also curved surfaces can be generated by setting the normal vector as a function of the displacement or velocity of the cart.</p>

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