| Project/Area Number |
09650292
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka University |
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Principal Investigator |
FURUSHO Junji Osaka University, Department of Computer-Controlled Mechanical Systems, Professor, 大学院・工学研究科, 教授 (70107134)
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| Co-Investigator(Kenkyū-buntansha) |
SAKAGUCHI Masamichi Osaka University, Department of Computer-Controlled Mechanical Systems, Research, 大学院・工学研究科, 助手 (60283727)
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| Project Period (FY) |
1997 – 1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 1998: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1997: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | Mechatronics / High-Precision Control / Vibration Control / Functional Fluids / Robotics / Flexible Arm / Direct Drive System |
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| Research Abstract |
In most electric-powered robots, each joints is driven through a reduction gear unit such as harmonic drive.Because of the elasticity of the driving systems including these reduction gear units, serious problems of vibrational behavior during operation and residual vibration are being caused with many of industrial robots.In this study variable viscous dampers using liquid crystalline polymers are developed to suppress vibration of industrial robots and mechatronics systems.The obtained results may be summarized as follows :
(1) A robot system was developed which has a variable damper using liquid crystalline polymers.For the developed system, by applying an electric field to the damper, it is shown that the influence of the resonance and antiresonance of a 2-inertia system is lowered.
(2) In order to maintain the robust stability, a controller is designed by a mixed sensitivity design method of the robust control theory.As a result, it was shown that the applying an electric field makes high-gain position control possible.Then, control experiments were carried out, and good responses are obtained.
(3) The DD motor system was developed which has a variable damper using liquid crystalline polymers.It was experimentally confirmed that the servo stiffness can be ten times as high as the one in the case without the damper.
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