建筑自动化中的力控制研究

Pub Date : 2024-04-20 DOI:10.20965/jrm.2024.p0284
Toshifumi Hiramatsu, Miyuki Saiki, Naohiro Hara, Masaki Yamada, Hisashi Sugiura
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引用次数: 0

摘要

自动操作是建筑领域解决劳动力短缺的主要研究课题之一。然而,建筑工地上的工人仍在进行手工作业,因此迫切需要实现自动化。要实现建筑工地手工作业的自动化,建筑机械需要能吸收外部冲击力的力控制装置,并与环境力一起提供适当的力。在这项研究中,一台 0.06 立方米级挖掘机的动臂/机械臂/铲斗关节采用了电力驱动,并应用了串联弹性致动器(SEA)来满足这两项要求。有关 SEA 在挖掘机等高输出大型机械中应用的研究实例很少。我们设计了 SEA 的结构,进行了控制设计,并制作了一个模拟 0.06 立方米级挖掘机的实际工作台来验证其性能。工作台测试结果表明,我们的 SEA 系统实现了适合人工作业的控制精度和响应速度。
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Study of Force Control for Construction Automation
Automatic operation is one of the main research topics in the field of construction for solving labor shortages. However, workers still perform manual work at construction sites and there is an urgent need to automate this. To automate manual work at construction sites, construction machinery requires force control that absorbs external shock impact forces and provides appropriate forces along with environmental forces. In this study, the boom/arm/bucket joints of a 0.06 m3 class excavator were electrically driven, and a series elastic actuator (SEA) was applied to satisfy these two requirements. There are few examples of SEA studies on its application in large machines with high outputs, such as excavators. We designed the structure of the SEA, conducted the control design, and fabricated an actual bench simulating a 0.06 m3 class excavator to verify its performance. The results of the bench tests show that our SEA system achieves a control accuracy and responsiveness suitable for use in manual work.
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