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Synthesis and Control of Hyper Redundant Network-Structure Robot with Elastic Elements

Research Project

Project/Area Number 15560215
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokyo Institute of Technology

Principal Investigator

IWATSUKI Nobuyuki  Tokyo Institute of Technology, Graduate School of Science and Engineering, Professor, 大学院・理工学研究科, 教授 (70193753)

Co-Investigator(Kenkyū-buntansha) MORIKAWA Kouichi  Tokyo Institute of Technology, Graduate School of Science and Engineering, Research Associate, 大学院・理工学研究科, 助手 (00282830)
Project Period (FY) 2003 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2004: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2003: ¥2,800,000 (Direct Cost: ¥2,800,000)
KeywordsRobotics / Hyper Redundant Mechanism / Network-Structure Robot / Elastic Elements / Kinematic Analysis / Interference between Actuators / Compliance / Optimum Motion Control / 多自由度機構 / つりあい方程式
Research Abstract

Aiming to realize effective motion of overactuator network-structure robots with hyper redundancy, new planar network-structure robots with elastics elements were proposed and synthesized. Kinematic analyses of the robots were established by taking account of force balance and the optimum control of the robots was then examined. The obtained results are summarized as fellows.
(1)Elastic network-structure modules as the minimum unit of the robot were synthesized with with linearactuators equipped with a linearspring, multi-jointed links and revolute pairs. By connecting many elastic network-structure modules mutually, a large scale network-structure robot with elastic elements could be obtained.
(2)The output degrees-of-freedom of elastic actuator unit and whole robot and the configuration determining parameter was defined. Elastic input/output equation of the robot was generally derived by taking account of force balance and then solved to carry out direct kinematics of the robot.
(3)By applying the proposed direct kinematics and the gradient projection method, a new optimum inverse kinematics of the planar elastic network-structure robot was formulated and was carried out so as to minimize the compliance of the output link as the objective function.
(4)A prototype of the planar elastic network-structure robot including a closed-loop link chain and 4 DOF and 5 actuators was built and experimentally examined. The prototype could generate the specified trajectories while keeping the stiffness of its output link high.
(5)A new hybrid spatial manipulator by serially connecting many spatial parallel mechanism units was proposed as a fundamental mechanism of the spatial elastic network-structure robot. Both of the direct and inverse kinematics was established and applied to CP control of the manipulator utilizing the redundant DOF.

Report

(3 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • Research Products

    (10 results)

All 2004 2003 Other

All Journal Article (8 results) Publications (2 results)

  • [Journal Article] Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting with Many Parallel Mechanism Units with a Few DOF2004

    • Author(s)
      Nobuyuki Iwatsuki, Norifumi Nishizaka, Kouichi Morikawa, Koji Kondoh
    • Journal Title

      Proc.of the 8th International Conference on Mechatronics Technology (Keynote paper)

      Pages: 29-34

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 超多自由度ロボットの機構と制御2004

    • Author(s)
      岩附信行
    • Journal Title

      日本機械学会第4回機素潤滑設計部門講演会講演論文集

      Pages: 7-10

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting with Many Parallel Mechanism Units with a Few DOF2004

    • Author(s)
      Nobuyuki Iwatsuki, Norifumi Nishizaka Kouichi Morikawa, Koji Kondoh
    • Journal Title

      Proc.of the 8th International Conference on Mechatronics Technology

      Pages: 29-34

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Mechanisms and Control System for Hyper Redundant Robots (in Japanese)2004

    • Author(s)
      Nobuyuki Iwatsuki
    • Journal Title

      Proc.of the 4th Machine Design and Tribology Division Meeting in JSME

      Pages: 7-10

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting with Many Parallel Mechanism Units with a Few DOF2004

    • Author(s)
      Nobuyuki Iwatsuki, Norifumi Nishizaka, Kouichi Morikawa, Koji Kondoh
    • Journal Title

      Proc.of the 8th International Conference on Mechatronics Technology(Keynote paper)

      Pages: 29-34

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Motion Control of Planar Network-structure Robots with Elastic Elements2003

    • Author(s)
      Nobuyuki Iwatsuki, Tomokatsu Kitamura, Iwao Hayashi, Kouichi Morikawa
    • Journal Title

      Proc.of the 7th International Conference on Mechatronics Technology

      Pages: 47-52

    • NAID

      130007002055

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Motion Control of Multi-DOF Network-structure Robots with Elastic Elements2003

    • Author(s)
      Nobuyuki Iwatsuki, Tomokatsu Kitamura, Iwao Hayashi, Kouichi Morikawa
    • Journal Title

      Proc.of the 6th International Workshop of Mechanical Sciences and Engineering

      Pages: 1-8

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Motion Control of Multi-DOF Network-Structure Robots with Elastic Elements2003

    • Author(s)
      Nobuyuki Iwatsuki, Tomokatsu Kitamura, Iwao Hayashi, Kouichi Morikawa
    • Journal Title

      Proc.of the International Workshop Of Mechanical Sciences and Engineering

      Pages: 1-8

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] Nobuyuki Iwatsuki, et al.: "Motion Control of Planar Network-structure Robots with Elastic Elements"Proc. of the 7th International Conference on Mechatronics Technology. 47-52 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Nobuyuki Iwatsuki, et al.: "Motion Control of Multi-DOF Network-structure Robots with Elastic Elements"Proc. of the 6th International Workshop of Mechanical Sciences and Engineering. 1-8 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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