| Project/Area Number |
04650388
|
|---|
| Research Category |
Grant-in-Aid for General Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
計測・制御工学
|
|---|
| Research Institution | AICHI INSTITUTE OF TECHNOLOGY |
|---|
Principal Investigator |
KATO Atsuo Aichi Institute of Technology, Professor, 工学部, 教授 (40064935)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
ITO Koji Toyohashi University of Technology. Professor, 工学部, 教授 (30023310)
|
|---|
| Project Period (FY) |
1992 – 1993
|
| Project Status |
Completed (Fiscal Year 1993)
|
| Budget Amount *help |
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1993: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1992: ¥1,600,000 (Direct Cost: ¥1,600,000)
|
|---|
| Keywords | Ultrasonic Motor / Compliance Control / Direct Drive Manipulator / Contact Task / Phase Control / 位相接触 / ダイレクト・ドライブマニピュレータ |
|---|
| Research Abstract |
A traveling wave ultrasonic Motor has many good characteristics for a direct drive manipulator, that is, compact size, silent motion, low speed rotation, and magnetic field no-affected. We developed an adjustable conpliance actuator system by the digital control techniques for the ultrasonic motor. The system acts like a spring and a damper whose spring constant and the damping factor are able to adjust freely by the computer commands. Then we made a direct drive manipulator using the actuator system. The manipulator moves compliantly in the contact tasks, and realized the smooth crank rotation tasks.
Now, we try realizing the co-operative motion using two direct drive manipulators.
|
