Holding Device with a Chain Net and its Modeling

Hitoshi Noguchi; Toru Omata; Toshio Takayama

doi:10.20965/jrm.2011.p0034

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JRM Vol.23 No.1 pp. 34-43

doi: 10.20965/jrm.2011.p0034

(2011)

Paper:

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Holding Device with a Chain Net and its Modeling

Hitoshi Noguchi^*, Toru Omata^, and Toshio Takayama^

^*Port and Airport Research Institute, 3-1-1 Nagase, Yokosuka 239-0826, Japan

^**Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8502, Japan

Received:

February 2, 2010

Accepted:

April 30, 2010

Published:

February 20, 2011

Keywords:

chain net, holding device, modeling, grasping

Abstract

A holding device with a chain net developed for automating and cutting labor in lifting has been used to remove wave-dissipating blocks and to recover hydrofoils from the seabed. It operates simply, but lifting safety must be rigorously checked, especially for heavy objects, so lifting models are highly desirable. We discuss modeling holding a four-leg block with the device, showing that its geometrical and static constraints are expressed as a set of nonlinear simultaneous equations having the same number of unknowns. From the solution to the simultaneous equations, the holding configuration and chain tension useful in determining whether the device can hold the block are obtained. Our proposal is also applicable to a four-leg block with a broken leg.

Cite this article as:

H. Noguchi, T. Omata, and T. Takayama, “Holding Device with a Chain Net and its Modeling,” J. Robot. Mechatron., Vol.23 No.1, pp. 34-43, 2011.

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References

[1] “Construction of Port and Harbor,” Public Corporation of The Service Center of Port Engineering, pp. 1-31, 2001. (in Japanese)
[2] Y. Takeda, “Withdrawal Device of Underwater Structure at the third Kaihou,” Work vessel, No.260, pp. 16-21, 2002. (in Japanese)
[3] H. Kato, “Development of Grab type Device of Block Transfer,” Techno Ocean’94 5th Int. symposium, 1994.
[4] H. Sakai, “Removal and Transfer Technology of Wave-dissipating Blocks,” Mechanization of construction, No.557, pp. 3-8, 1996. (in Japanese)
[5] T. Hirabayashi, T. Yamamoto, H. Yano, and H. Iwata, “Experiment on Teleoperation of Underwater Backhoe with Haptic Information,” Proc. of 23rd Int. Symposium on Automation and Robotics in Construction (ISARC), pp. 36-42, 2006.
[6] A. Ishii, “Operating System of a Double-Front Work Machine for Simultaneous Operation,” Proc. of 23rd Int. Symposium on Automation and Robotics in Construction (ISARC), pp. 36-42, 2006.
[7] H. Noguchi, “Development of a Block Transfer Device Using Net Chains-Application to Wave-Dissipating Blocks and Various Shape Things –,” Proc. of Techno-Ocean 2006/19th JASNAOE Ocean Engineering Symposium, pp. 1-8, 2006.
[8] H. Noguchi, “Development of Simple Holding Device with Net Chain Applying to Wave-Dissipating Blocks, Floats and Sinking Objects of Various Shapes,” Symposium on Underwater Technology 2007 and Workshop on Scientific Use of Submarine Cables & Related Technologies 2007, pp. 58-65, 2007.
[9] H. Noguchi, “Simple Holding Device with Net Chain Applying to Recovery of a Hydrofoil Sinking to the Seabed with a Depth of 180m,” Proc. of OCEANS ’08 MTS/IEEE KOBE-TECHNOOCEAN ’08, pp. 1-6, 2008.
[10] H. Arisumi, T. Kotoku, and K. Komoriya, “Swing Motion Control of Casting Manipulation,” IEEE Control Systems, Vol.19, No.4, pp. 56-64, 1999.
[11] N. Imamura, Y. Nakamura, S. Yamaoka, H. Shirasawa, and H. Nakamoto, “Development of an Articulated Mechanical Hand with Enveloping Grasp Capability,” J. of Robotics and Mechatronics, Vol.19, No.3, pp. 308-314, 2007.
[12] T. Omata and K. Nagata, “Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps,” IEEE Trans. on Robotic and Automation, Vol.16, No.1, pp. 46-54, 2000.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] “Construction of Port and Harbor,” Public Corporation of The Service Center of Port Engineering, pp. 1-31, 2001. (in Japanese)

[2] [2] Y. Takeda, “Withdrawal Device of Underwater Structure at the third Kaihou,” Work vessel, No.260, pp. 16-21, 2002. (in Japanese)

[3] [3] H. Kato, “Development of Grab type Device of Block Transfer,” Techno Ocean’94 5th Int. symposium, 1994.

[4] [4] H. Sakai, “Removal and Transfer Technology of Wave-dissipating Blocks,” Mechanization of construction, No.557, pp. 3-8, 1996. (in Japanese)

[5] [5] T. Hirabayashi, T. Yamamoto, H. Yano, and H. Iwata, “Experiment on Teleoperation of Underwater Backhoe with Haptic Information,” Proc. of 23rd Int. Symposium on Automation and Robotics in Construction (ISARC), pp. 36-42, 2006.

[6] [6] A. Ishii, “Operating System of a Double-Front Work Machine for Simultaneous Operation,” Proc. of 23rd Int. Symposium on Automation and Robotics in Construction (ISARC), pp. 36-42, 2006.

[7] [7] H. Noguchi, “Development of a Block Transfer Device Using Net Chains-Application to Wave-Dissipating Blocks and Various Shape Things –,” Proc. of Techno-Ocean 2006/19th JASNAOE Ocean Engineering Symposium, pp. 1-8, 2006.

[8] [8] H. Noguchi, “Development of Simple Holding Device with Net Chain Applying to Wave-Dissipating Blocks, Floats and Sinking Objects of Various Shapes,” Symposium on Underwater Technology 2007 and Workshop on Scientific Use of Submarine Cables & Related Technologies 2007, pp. 58-65, 2007.

[9] [9] H. Noguchi, “Simple Holding Device with Net Chain Applying to Recovery of a Hydrofoil Sinking to the Seabed with a Depth of 180m,” Proc. of OCEANS ’08 MTS/IEEE KOBE-TECHNOOCEAN ’08, pp. 1-6, 2008.

[10] [10] H. Arisumi, T. Kotoku, and K. Komoriya, “Swing Motion Control of Casting Manipulation,” IEEE Control Systems, Vol.19, No.4, pp. 56-64, 1999.

[11] [11] N. Imamura, Y. Nakamura, S. Yamaoka, H. Shirasawa, and H. Nakamoto, “Development of an Articulated Mechanical Hand with Enveloping Grasp Capability,” J. of Robotics and Mechatronics, Vol.19, No.3, pp. 308-314, 2007.

[12] [12] T. Omata and K. Nagata, “Rigid Body Analysis of the Indeterminate Grasp Force in Power Grasps,” IEEE Trans. on Robotic and Automation, Vol.16, No.1, pp. 46-54, 2000.

Holding Device with a Chain Net and its Modeling

Hitoshi Noguchi*, Toru Omata**, and Toshio Takayama**

Hitoshi Noguchi^*, Toru Omata^, and Toshio Takayama^