| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
|
|---|
| Outline of Final Research Achievements |
A novel two-limb six-degrees-of-freedom (dof) parallel robot redundantly driven by eight actuators is proposed. The mechanism of the robot has a two-layer structure in which the eight-dof actuators control the six-dof hand via the seven-dof internal mechanism. The first part of the hierarchy from the eight-dof actuators to the seven-dof internal mechanism has actuation redundancy, and the second part of the hierarchy from the seven-dof internal mechanism to the six-dof hand has kinematic redundancy. The kinematic redundancy contributes to singularity avoidance, while the actuation redundancy contributes to backlash removal by acting on the internal forces of the mechanism. The validity was verified by numerical calculations and the prototyping. A novel differential screw drive systems and differential belt drive systems are also developed as related researches of this project.
|
