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Hyper Redundant Manipulator with Compound three Closed Linkage Mechanism

Research Project

Project/Area Number 13650287
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTOKAI UNIVERSITY

Principal Investigator

KOGANEZAWA Koichi  Tokai University, Department of Mechanical Engineering, Associate Professor, 工学部, 助教授 (10178246)

Co-Investigator(Kenkyū-buntansha) YAMAMOTO Yoshio  Tokai University, Department of Mechanical Engineering, Associate Professor, 工学部, 助教授 (20272114)
Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2002: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2001: ¥2,200,000 (Direct Cost: ¥2,200,000)
KeywordsHyper redundant manipulator / Closed linkage system / 閉リンク機構 / 冗長自由度
Research Abstract

In this study the authors propose a mechanism of hyper redundant manipulator, which has a couple of closed three bar- linkage mechanisms. One unit comprises one actively driven joint, passively rotated joint and one slider. The properties of this mechanism are summarized as follows,
(1) High mechanical stiffness is expected due to the closed linkage.
(2) The motion of the endpoint is dominantly governed by the actuators located distal position of manipulator.
In 2001 the mathematical method of kinematical and dynamical analysis in terms of this mechanism has been proposed and actually applied to this mechanism to design the prototype model having four DOR.
Based on this analysis the model one has been developed.
In 2002, the model one was assembled. The motor driver unit and control software were developed. The control experiment was achieved and it elucidated that the model one was able to control using the conventional PID control. In addition to develop the prototype model, the simulation analysis has been pursued to find more sophisticated link and DOF configuration. As a result the authors found that 8 DOF model is suitable for wide range of motion of the end point. According to this analysis the authors are now planning to develop the second model from 2003.

Report

(3 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • Research Products

    (14 results)

All Other

All Publications (14 results)

  • [Publications] Koganezawa, K: "Fast Similarity Factorization for Solving Matrix Dynamic Equation"JSME International Journal. C46(2). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K., K.Kaneko: "Method for Constraints Stabilization on Solving Multibody Dynamics"Proceedings of DETC'01, ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K: "Redundancy Resolution For Robot Manipulators-Comparison of Computational Efficiency Between The SVDS, The Fast Similarity Factorization and Recursive Formulation-"Proceedings of 2001 IEEE International Symposium Computational Intelligence in Robotics and Automation. 89-96 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K., T.Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM' 01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K: "Fast Similarity Factorization for Solving Matrix Dynamic Equation"JSME International Journal. C4 6 (2). (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K. and K. Kaneko: "A Method for Constraints Stabilization on Solving Multibody Dynamics"Proceedings of DETC'01, ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K.: "Redundancy Resolution For Robot Manipulators -Comparison of Computational Efficiency Between the SVDS, the Fast Similarity Factorization and Recursive Formulation-"Proceedings of 2001 IEEE International Symposium Computational Intelligence in Robotics and Automation. 89-96 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K. and T. Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM'01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koganezawa, K., K.Kaneko: "A Method for Constraints Stabilization on Solving Multibody Dynamics"Proceedings of DETC'01, ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. (2001)

    • Related Report
      2002 Annual Research Report
  • [Publications] Koganezawa, K: "Redundancy Resolution For Robot Manipulators-Comparison of Computational Efficiency Between The SVDS, The Fast Similarity Factorization and Recursive Formulation-"Proceedings of 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation. 89-96 (2001)

    • Related Report
      2002 Annual Research Report
  • [Publications] Koganezawa, K., T.Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM'01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13

    • Related Report
      2002 Annual Research Report
  • [Publications] Koganezawa, K., K.Kaneko: "A Method for Constraints Stabilization on Solving Multibody Dynamics"Proceedings of DETC'01,ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Koganezawa, K: "Redundancy Resolution For Robot Manipulators-Comparison of Computational Efficiency Between The SVDS,The Fast Similarity Factorization and Recursive Formulation-"Proceedings of 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation. 89-96 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Koganezawa, K., T.Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM'01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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