| Project/Area Number |
03650201
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | The University of Tokyo |
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Principal Investigator |
SHIMOYAMA Isao The University of Tokyo, Engineering, Associate Professor, 工学部, 助教授 (60154332)
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| Project Period (FY) |
1991 – 1992
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| Project Status |
Completed (Fiscal Year 1992)
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| Budget Amount *help |
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1992: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 1991: ¥1,100,000 (Direct Cost: ¥1,100,000)
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| Keywords | Microrobot / Micromanipulator / Micromachine / Microarm / Microfabrication / マイクロマシ-ニング / ロボット / アクチュエ-タ |
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| Research Abstract |
The initial goal of this study is to make a silicon microarm, which is similar to a conventional manipulator. However, I gave up the goal because (1) fabrication of microjoints is so difficult to make and (2) friction on surface prevents smooth rotation. The suitable mechanisms exit in microworld. In order to eliminate surface friction, I've proposed external skeleton and elastic joints which is based on insect structure. Moreover, permanent magnets located in magnetic field drive a micromanipulator. This method does not require wires to supply energy. In case of this manipulator, the equation of motion and experimental data are obtained and the validity is confirmed.
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