Self propulsive soft manipulator driven and controlled by fluid power capable of three dimensional motion
| Project/Area Number |
15K05922
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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 | University of Tsukuba |
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Principal Investigator |
Date Hisashi 筑波大学, システム情報系, 准教授 (50531985)
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| Co-Investigator(Renkei-kenkyūsha) |
OHYA Akihisa 筑波大学, システム情報系, 教授 (30241798)
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| Research Collaborator |
HIHARA Kotaro
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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: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2016: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2015: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 柔軟マニピュレータ / 流体機械 / ヘビ型ロボット / 内視鏡 / 流体駆動 / ヘビ型推進機構 / ヘビ型アクチュエータ / 油空圧駆動 / 連続体蛇行理論 / 工業内視鏡 |
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| Outline of Final Research Achievements |
This research aims at achieving three dimensional motion of a soft manipulator driven and controlled by fluid. Inspired by snakes capable of progressing solely by bending their body, a kind of endoscopic device that can progress into a complicated narrow space is expected to be realized by the similar mechanism. In this research, a two dimensional hyper-redundant manipulator with curvature derivative control is revised to realize three dimensional motion.
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Report
(4 results)
Research Products
(2 results)
