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A Study on 6-Degree-of-Freedom Parallel Micromanipulator Using ICPF Actuators

Research Project

Project/Area Number 08555059
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field Dynamics/Control
Research InstitutionKobe University

Principal Investigator

HATTORI Motofumi (1998)  Faculty of Engineering Kobe University, Research Associate, 工学部, 助手 (00252792)

木村 哲也 (1997)  神戸大学, 大学院・自然科学研究科, 助手 (70273802)

田所 諭 (1996)  神戸大学, 工学部, 助教授 (40171730)

Co-Investigator(Kenkyū-buntansha) YAMASAKI Yoshiharu  Faculty of Engineering Kobe University, Teaching Staff, 工学部, 教務職員(教育職) (90174648)
OHTSUBO Yoshikazu  Kinki University, Faculty of Science & Engineering, Research As-sociate, 理工学部, 助手 (90257973)
KIMURA Tetsuya  Osaka Prefecture University, Faculty of Engineering, Research Asso-ciate, 工学部, 助手 (70273802)
TAKAMORI Toshi  Faculty of Engineering Kobe University, Professor, 工学部, 教授 (10031098)
TADOKORO Satoshi  Faculty of Engineering Kobe University, Associate Professor, 工学部, 助教授 (40171730)
服部 元史  神戸大学, 工学部, 助手 (00252792)
Project Period (FY) 1996 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥7,200,000 (Direct Cost: ¥7,200,000)
Fiscal Year 1998: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 1997: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 1996: ¥3,500,000 (Direct Cost: ¥3,500,000)
Keywordshigh polymer gel actuator / ICPF actuator / parallel mechanism / robot / mechatoronics / micromanipulation / redundant drive / soft manipulation
Research Abstract

An ICPF actuator, a new highpolymer gel membrane actuator has advantages that large motion is generated by low voltage input in wet condition. Application to micromanipulation, in-vivo surgery, etc. are expected.
The objective of this research was development of micromotion mechanisms having parallel structures as application of ICPF actuators. The following results were attained.
1. Identification and modeling of viscoelastic and nonlinear properties of ICPF actuator
2. Improvement of the computer model of ICPF actuator to improve accuracy of motion prediction
3. Optimal design, fabrication and improvement of a mechanism with 3 degrees of freedom
4. Optimal design, fabrication and improvement of a mechanism with 6 degrees of freedom
5. Modeling and analysis of dynamic interference and transmission characteristics
6. Analysis and control of redundant mechanisms
7. Construction of a tele-micromanipulation system using stereoscopic image
8. Manipulability improvement by learning control
9. Experimental evaluation of micromanipulation
The result of evaluation was as follows.
1.3-DOF manipulator
The displacement was 2 mm, and the practical frequency range was up to 13 Hz. It followed well to high-speed motion commands, although stationary condition longer than 3 seconds were difficult. The developed device is appropriate for dynamic micromanipulation.
2.6-DOF manipulator
The translational and rotational displacements were as small as 0.4 mm and 2 degrees, respectively.
The practical frequency range was up to 3 Hz. Improvement of the ICPF material is necessary.

Report

(4 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • 1996 Annual Research Report
  • Research Products

    (46 results)

All Other

All Publications (46 results)

  • [Publications] Satoshi Tadokoro: "An elliptic friction drive element using an ICPF actuator" IEEE Intl.Conf. on Robotics and Automation. 205-212 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "Linear approximate dynamic model of an ICPF autuator" IEEE Intl.Conf. on Robotics and Automation. 219-225 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 菅野隆: "ICPF アクチュエータのモデル化、第1報、基礎的特性とブラックボックスモデリング" 日本機械学会論文集C編. 62-598. 2299-2305 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "3-dimensional dynamic modeling of ICPF actuator" IEEE Intl.Conf.on Systems, Man and Cybernetics. (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 菅野隆: "ICPF アクチュエータのモデル化、第2報、電気的特性とその線形近似モデリング" 日本機械学会論文集C編. 62-601. 3529-3535 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 菅野隆: "ICPF アクチュエータのモデル化、第3報、応力発生特性と線形近似アクチュエータモデル" 日本機械学会論文集C編. 63-611. 2345-2350 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "An elliptic friction drive element using an ICPF(ionic conducting polymer gel film)actuator" IEEE Control System. 17-3. 60-68 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 田所諭: "柔らかいアクチュエータ" 日本ロボット学会誌. 15-3. 318-322 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Development of distributed actuation device consisting of soft gel autuator elements" IEEE Intl.Conf.on Robotics and Automation. 2155-2160 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "On characteristics of EFD elements using ICPF actuators" Japan-USA Sympo. on Flexible Automation. 547-554 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Development of a multi-degree-of-freedom micro motion device consisting of soft gel actuators" Intl.Conf.on Advanced Mechatronics. 300-305 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Soft micromanipulation devices with multiple d.o.f.consisting of high polymer gel actuators" IEEE Intl.Micro Electro Mechanical Systems Conf.37-42 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Multi-degree-of-freedom micromotion device" SPIE Intl.Conf. on Smart Materials and Structures. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Multi-DOF device for soft micromanipulation consisting of soft gel autuator elements" IEEE Intl.conf. on Robotics and Automation. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "An elliptic friction drive element using an ICPF actuator" IEEE Intl.Conf.on Robotics and Au-tomation. 205-212 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "Linear approximate dynamic model of an ICPF actuator" IEEE Intl.Conf.on Robotics and Au-tomation. 219-225 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "Modeling of ICPF actuator, part 1 : funda-mental characteristics and black-box modeling" Trans.Japan Soc.of Mechanical Engi-neers (C). 62-598. 2299-2305 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "3-dimansional dynamic modeling of ICPF actuator" IEEE Intl.Conf.on Systems, Man and Cybernetics. (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "Modeling of ICPF actuator, part 2 : electrical characteristics and linear approximate model" Trans.Japan Soc.of Mechanical Engi-neers (C). 62-601. 3529-3535 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Ryu Kanno: "Modeling of ICPF actuator, part 3 : stress generation characteristics and linear approximate actuator model" Trans.Japan Soc.of Mechanical Engi-neers (C). 63-611. 2345-2350 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "An elliptic friction drive element using an ICPF (ionic conducting polymer gel film) actuator" IEEE Control System. 17-3. 60-68 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Soft actuators" J.of Robotics Society of Japan. 15-3. 318-322 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Development of distributed actuation device consisting of soft gel actuator elements" IEEE Intl.Conf.on Robotics and Au-tomation. 2155-2160 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "On characteristics of EFD elements using ICPF actuators" Japan-USA Sympo.on Flexible Au-tomation. 547-554 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Development of a multi-degree-of-freedom micro motion device consisting of soft gel actuators" Intl.Conf.on Advanced Mechatronics. 300-305 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Soft micromanipulation devices with multiple degrees of freedom consisting of high polymer gel actuators" IEEE Intl.Micro Electro Mechanical Systems Conf. 37-42 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Multi-degree-of-freedom micromotion device" SPIE Intl.Conf.on Smart Materials and Structures. (to appear). (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Multi-DOF device for soft micromanip-ulation consisting of soft gel actuator elements" IEEE Intl.Conf.on Robotics and Au-tomation. (to appear). (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Satoshi Tadokoro: "Development of distributed actuation device consisting of soft gel actuator elements" IEEE Intl.Conf.on Robotics and Automation. 2155-2160 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Satoshi Tadokoro: "On characteristics of EFD elements using ICPF actuators" Japan-USA Sympo.on Flexible Automation. 547-554 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Satoshi Tadokoro: "Development of a multi-degree-of freedom micro motion device consisting of soft gel actuators" Intl.Conf.on Advanced Mechatronics. 300-305 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Satoshi Tadokoro: "Soft micromanipulation devices with multiple d.o.f.consisting of high polymer gel actuators" IEEE Intl.Micro Electro Mechanical Systems Conf.37-42 (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] Satoshi Tadokoro: "Multi-degree-of-freedom micromotion device" SPIE Intl.Conf.on Smart Materials and Structures. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] Satoshi Tadokoro: "Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements" IEEE Intl.Conf.on Robotics and Automation. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 菅野隆: "ICPFアクチュエータのモデル化、第3報:応力発生特性と線形近似アクチュエータモデル" 日本機械学会論文集C編. 63巻. 157-162 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 山上真司: "ICPFアクチュエータを用いたマイクロマニピュレーションに関する研究第1報:3D-EFDアクチュエータエレメントの適応可能性に関する検討" ロボティクス・メカトロニクス'97講演会講演論文集. Vol.A. 89-90 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 浜口良彦: "ICPFアクチュエータを用いた人工繊毛の開発" ロボティクス・メカトロニクス'97講演会講演論文集. Vol.A. 539-540 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 伏見光暁: "ICPFアクチュエータを用いた面形アクチュエータの開発第2報:空間周波数の異なる入力による応答" ロボティクス・メカトロニクス'97講演会講演論文集. Vol.A. 157-158 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 藤 智史: "ICPFを用いたEFDアクチュエータエレメントの開発と応用,第7報:分布型EFDデバイスの試作" ロボティクス・メカトロニクス'97講演会講演論文集. Vol.A. 177-179 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] S.Tadokoro: "An elliptic friction drive element using an ICPF actuator" Proc.IEEE Intl.Conf.on Robotics and Automation. 1. 205-212 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] R.Kanno: "Linear approximate dynamic model of an ICPF actuator" Proc.IEEE Intl.Conf.on Robotics and Automation. 1. 219-225 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] S.Tadokoro: "On fundamental design of wire conf.of wire-driven parallel manipuators with redundancy" Proc.Japan-U.S.A.Symposium on Flexible Automation. 1. 151-158 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅野隆: "ICPFアクチュエータのモデル化、第1報:基礎的特性とブラックボックスモデリング" 日本機械学会論文集C編. 62. 2299-2305 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] R.Kanno: "3-dimensional dynamic modeling of ICPF actuator" Proc.IEEE Intl.Conf.on Systems,Man and Cybernetics. (未定). (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅野隆: "ICPFアクチュエータのモデル化、第2報:電気的特性とその線形近似モデリング" 日本機械学会論文集C編. 62. 3529-3535 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] S.Tadokoro: "An elliptic friction drive element using ICPF actuator" IEEE Control Systems. 16. 未定 (1997)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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