| Project/Area Number |
08456126
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
農業機械学
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| Research Institution | KYOTO UNIVERSITY |
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Principal Investigator |
IIDA Michihisa (1997-1998) Kyoto University, Graduate School of Agriculture, Associate Professor, 農学研究科, 助教授 (50232129)
並河 清 (1996) 京都大学, 農学研究科, 教授 (40026464)
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| Co-Investigator(Kenkyū-buntansha) |
SUGURI Masahiko Kyoto University, Graduate School of Agriculture, Instructor, 農学研究科, 助手 (10226483)
UMEDA Mikio Kyoto University, Graduate School of Agriculture, Professor, 農学研究科, 教授 (60201357)
飯田 訓久 京都大学, 農学研究科, 助手 (50232129)
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| Project Period (FY) |
1996 – 1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥7,100,000 (Direct Cost: ¥7,100,000)
Fiscal Year 1998: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 1997: ¥2,900,000 (Direct Cost: ¥2,900,000)
Fiscal Year 1996: ¥2,800,000 (Direct Cost: ¥2,800,000)
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| Keywords | light-weight manipulator / mobile robot / hydraulic actuator / closed-link mechanism / passive hand / 駆動冗長性 / 仮想木構造 |
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| Research Abstract |
The object of this research is the development of a light-weight manipulator for agriculture. It requires that agricultural robot in the open field is high power and light weight in order to handle heavy matters and move easily. Therefore, the manipulator and the end effector need to be light. In this research we have developed the manipulator and the end effector for harvesting watermelon. The end effector consists of four fingers, which are not actuated. It opens the fingers with tracing on the surface of watermelon. We call it 'passive type gripper'. The permissible position error and the contact force between the gripper and watermelon were measured. As the result, it was confirmed that the end effector can grasp watermelon with the position error. The manipulator has a parallelogrammic linkage and Roverval mechanism. Its working space is 2.8m and the weight capacity is 150N.Three joints of manipulator are driven by hydraulic actuators and DC servo motor. The positioning test of manipulator was done. As the result, It was found that the manipulator had the sufficient accuracy for harvesting watermelon using the passive type gripper.
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