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Optimal Design Method of Spiral Pulley for Full Range Effectiveness in Balancing Performance
http://hdl.handle.net/10076/0002001043
http://hdl.handle.net/10076/0002001043bdefeefa-2602-4861-a394-0a947610237f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2022DE0702.pdf (130.6 MB)
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| アイテムタイプ | 学位論文 / Thesis or Dissertation(1) | |||||||
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| 公開日 | 2025-04-01 | |||||||
| タイトル | ||||||||
| タイトル | Optimal Design Method of Spiral Pulley for Full Range Effectiveness in Balancing Performance | |||||||
| 言語 | en | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 資源タイプ | ||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||
| 資源タイプ | doctoral thesis | |||||||
| アクセス権 | ||||||||
| アクセス権 | embargoed access | |||||||
| アクセス権URI | http://purl.org/coar/access_right/c_f1cf | |||||||
| 著者 |
Tian, Shen
× Tian, Shen
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| 著者（ヨミ） | ||||||||
| 姓名 | デン, シン | |||||||
| 言語 | ja-Kana | |||||||
| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | In modern manufacturing, the long-term handling of heavy objects is a main factor leading towards muscle pain of the waist and lower back. Heavy work such as grasping, lifting, and carrying heavy objects may cause occupational accidents. Furnace construction is one of the tasks that require such physical load. In the furnace construction work, it is necessary to operate the brick with one hand and place it in a predetermined position. However, repeated gripping and lifting operations may fatigue the lower back muscles and increase the risk of back pain. In addition, In order to grip the brick with one hand, it is necessary to grip with the fingers under the brick, so that there is a risk of occupational accidents such as finger jamming. To reduce the burden on workers, robots play important roles in compensating for gravitational force. Energy-conserving passive mechanisms are commonly used in assistive robots because of their reliability and durability. One such mechanism is a spiral pulley and spring couple, which is a compact and reliable solution to provide constant assistive force. A spiral pulley has a predesigned changing radius in its shape to balance the increasing restoring force of the spring as the spring extends. This allows the mechanism to exert a constant torque within its designed range. The crucial aspect of such a mechanism is the calculation of the shape of the spiral pulley. With a more accurate calculation, the mechanism can provide a more optimal balancing ability. In this research, an innovative spiral pulley is designed considering the cable tension variation along the cable attached to the pulley. The balancing performance of the proposed pulley is evaluated by its accuracy in providing balanced torque and effective range. A comparative experiment using a conventional spiral pulley confirms the effectiveness of the proposed spiral pulley. Nowadays, assistive robots for heavy duty labour are being actively developed to reduce occupational accidents. In this study, we developed a wearable work-support system to reduce the load on the waist and finger clogging in construction work. A furnace construction task was analyzed mathematically to derive the load applied to the body, and an effective method was designed to reduce the load. Finally, we developed a wearable work-support system with a vacuum gripper that reduces the load on the lumbar region through the pelvis to prevent heavy objects from stressing the back muscles and the fingers from jamming during furnace construction work. A demonstration experiment confirmed the reduction in muscle exertion with the developed system; finger clogging was also improved by a brick-gripping method using a vacuum gripper. On the other hand, manufacturing industries now use industrial assistive robots to carry around many heavy tools, cargoes, and other objects. Some robots are designed to carry objects that are too heavy for workers to move without assistance. These robots are commonly large and have huge capacities. On the other hand, some robots target lighter objects to reduce the burden on workers carrying those objects. Energyconserving passive mechanisms are commonly used in assistive robots because of their reliability and durability. Many researches have been conducted regarding balancing weight with mechanisms. One such mechanism is a spiral pulley and spring couple, which is a compact and reliable solution to provide constant assistive force. Springs can store energy passively, and a spiral pulley can balance the changing restoring force of the spring. Various studies have investigated mechanisms to balance the changing restoring force of the spring while the spring is stretched or compressed. Woods B. et al. discussed the development, analysis, and testing of a spiral pulley mechanism designed to passively balance the energy requirements of mechanical systems and smart structures in order to reduce the size and weight of their actuation systems and to minimize the associated energy consumption. Zhang J. et al. designed a spiral pulley negative-stiffness mechanism that uses a cable connected with a pre-tension spring to convert decreasing spring force into increasing balanced torque. Previous studies have confirmed that the coil spring with spiral pulley mechanism is effective in converting varying spring force into constant balanced torque. However, the conventional spiral pulley is designed based on the assumption that torque on a pulley is provided by the two ends of the cable attached to the pulley, ignoring the intermediate tension change along the cable inside the range in which the cable is attached to the pulley. The cable tension remains the same from the spring end to the starting point on the pulley. It then changes due to the static friction applied to the cable from the pulley until the cable reaches the end of the attached range. From the point where cable is no longer attached to the pulley, the cable tension remains the same until the output point. Considering this tension change, to produce a more accurate spiral pulley design, an innovative spiral pulley kinetic model that considers the cable tension variation along the cable within the attached range is introduced. This research introduces an innovative spiral pulley kinetic model to exert a more accurate balanced torque at the output side of the spiral pulley. The goal of this research is to develop an innovative spiral pulley that considers the force change along the attached cable to achieve optimum accuracy in converting decreasing spring force into increasing balanced torque. A self-balancing system is set up for experiments with both conventional and innovative spiral pulleys. Finally, to compare the innovative spiral pulley model with the conventional model, experiments are conducted with the self-balancing system, and both pulleys are evaluated based on the accuracy of the balanced torque and effective range. |
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| 言語 | en | |||||||
| 内容記述 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 本文/System Engineering, Faculty of Engineering Graduate School of Engineering, Mie University Intelligent Robotics Laboratory | |||||||
| 内容記述 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 140p | |||||||
| 書誌情報 |
発行日 2022-07-20 |
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| フォーマット | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | application/pdf | |||||||
| 著者版フラグ | ||||||||
| 出版タイプ | VoR | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||
| その他の言語のタイトル | ||||||||
| その他のタイトル | 全可動域において平衡性能を有効化するためのスパイラルプーリー最適設計法に関する研究 | |||||||
| 言語 | ja | |||||||
| 出版者 | ||||||||
| 出版者 | 三重大学 | |||||||
| 出版者（ヨミ） | ||||||||
| 値 | ミエダイガク | |||||||
| 学位名 | ||||||||
| 学位名 | 博士(工学) | |||||||
| 学位授与機関 | ||||||||
| 学位授与機関識別子Scheme | kakenhi | |||||||
| 学位授与機関識別子 | 14101 | |||||||
| 学位授与機関名 | 三重大学 | |||||||
| 学位授与年月日 | ||||||||
| 学位授与年月日 | 2022-07-20 | |||||||
| 学位授与番号 | ||||||||
| 学位授与番号 | 甲工学第2145号 | |||||||
| 資源タイプ（三重大） | ||||||||
| 値 | Doctoral Dissertation / 博士論文 | |||||||
