著者

西城 直人 渡辺 将広 信時 正嗣 鈴木 信太郎 多田隈 建二郎 昆陽 雅司 田所 諭

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2020 (ISSN:24243124)

巻号頁・発行日

pp.1A1-I08, 2020 (Released:2020-11-25)

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Various researches are conducted to reduce the influence of winds and waves for safer work environment on offshore operations and to negate the tilt due to acceleration of vehicle for improved comfortableness. Conventional researches have adopted active mechanism like six-degree-of-freedom parallel mechanism that absorbs the sway by constantly keeping its motion base horizontal to suppress such influences. However, current swing machines require vast areas to be installed since their swing mechanisms are large and their bottom structures are thick. Here, we propose a new swing mechanism “Omni-Swing” which is relatively thin and can be applied to curved surfaces. The mechanism is embodied to a real machine and experiments are conducted to verify its basic characteristic in this paper.