| Project/Area Number |
15560226
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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 | Waseda University |
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Principal Investigator |
YAMAKAWA Hiroshi Waseda University, Faculty of Science and Engineering, Professor (00097263)
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| Co-Investigator(Kenkyū-buntansha) |
MASUMOTO Noriyasu Waseda University, Nippon Institute of Technology, Accistant Professor (80312081)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2005: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2004: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 2003: ¥2,000,000 (Direct Cost: ¥2,000,000)
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| Keywords | Redundancy / 3-link-manipulator / Bone and Muscle Model / Optimization |
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| Research Abstract |
The following objectives were taken in series of our researches.
(1) Examination of the redundancies in living things was done and their applications to engineering problems. (material, structure, mechanism, sensor, actuator)
(2) Various redundancies in manipulators. (degrees of freedom, number of sensors and actuators, driving mechanism, reliability) were taken as targets to be evaluated and they were totally evaluated from effectiveness and robustness. Propositions of emergent design methods of innovative manipulators were hold and the evaluation of the proposed method by experiments.
(3) Total evaluations of the redundancies in materials, mechanisms and structures and propositions of creative design methods of mechanical systems in view of them.
(4) Considering above mentioned points (2) and (3) propositions of innovative mechanical systems was done. Redundancies of mechanisms, actuators and relation between positions of locations and ones of drivings were clarified in 2003 and 2004. Studies on innovative design method of mechanical system involving actuators and mechanisms were carried out. Concretely introducing optimization, the design methods were proposed by taking parameters on redundancies to reduce the energy of each actuator and total required energy. In the final year of this project, all results obtained were summarized. Then based on the results, successive and developing researches were then carried out and introduced.
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