| Project/Area Number |
15K13903
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Yamagata University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
多田隈 建二郎 東北大学, 大学院情報科学研究科, 准教授 (30508833)
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| Co-Investigator(Renkei-kenkyūsha) |
GONG Jin 山形大学, 大学院理工学研究科, 助教 (30631759)
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| Research Collaborator |
YAMANO Mitsuhiro 滋賀県立大学, 工学部, 准教授 (70323178)
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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 |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2015: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
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| Keywords | 歯車 / ロボットハンド / マニピュレーション / 形状記憶ゲル / 把持戦略 |
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| Outline of Final Research Achievements |
In this research, J-type omnidirectional driving gear was produced as a mechanism for motions of translation and revolution of the fingernail mechanism on the fingers of the robotic hand. As a result, motions of translation and revolution of the fingernail mechanism with only one gear was realized. Its wider motion range was also achieved.
A spherical omnidirectional driving gear was newly developed as a mechanism to realize a finger joint that turns in the forward and backward direction, and realized with only one spherical gear with two orthogonal rotating joints at one point, realizing a wide movable range. A finger mechanism for attaching a movable claw mechanism to the tip was manufactured using three spherical omnidirectional drive gears and experiments were carried out.
For the fingertip nail mechanism, a mechanism using a shape memory gel was manufactured so that the fingertip was more likely to adapt to the shape of the object or obstacle to be gripped.
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