Development of two limbs six-dof parallel robot with kinematic and actuation redundancies
| Project/Area Number |
15K05918
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kindai University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| 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)
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| Keywords | 知能機械 / パラレルメカニズム / 冗長ロボット / 機構解析 / 機械設計 / 最適化 |
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| 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.
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Report
(4 results)
Research Products
(28 results)
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[Presentation] 理学療法士の訓練のためのエンドフィール提示ロボット2016
Author(s)
有元 公平, 原田 孝, 河村 廣幸, 福田 寛二, 池田 篤俊
Organizer
第17回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会 SI2016
Place of Presentation
札幌コンベンションセンター (札幌市)
Year and Date
2016-12-15
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[Book] 大学課程 機構学2016
Author(s)
稲田 重男, 森田 鈞, 長瀬 亮, 原田 孝
Total Pages
224
Publisher
オーム社
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