| 摘要 |
PROBLEM TO BE SOLVED: To solve the problems that a long time is taken by the time load shaking stops because a single pendulum type transport device causes a load to be easily shaken due to the movement of the device and has hard time to attach an attenuator, such as a damper, and also, that the single pendulum type transport device has no means for analytically laying out a track for a movable carriage, which can reduce the load shaking as much as possible when traveling on an arbitrary route.SOLUTION: The single pendulum type transport device can transport while suppressing load shaking by performing follow-up control of the acceleration of the movable carriage according to a linear carriage acceleration function determined by defining a shake angle of a load of the single pendulum type transport device as a rotated vibration operation function.SELECTED DRAWING: Figure 1 |
