Intelligent Actuators for Mechatronics with Multi-Degrees-of-Freedom

• Project/Area Number: 16078209
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: Okayama University
• Principal Investigator: SUZUMORI Kouichi Okayama University, 大学院・自然科学研究科, 教授 (00333451)
• Co-Investigator(Kenkyū-buntansha): WAKIMOTO Syuichi 岡山大学, 大学院・自然科学研究科, 助教 (40452560)
• Project Period (FY): 2004 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥65,300,000 (Direct Cost: ¥65,300,000); Fiscal Year 2008: ¥12,700,000 (Direct Cost: ¥12,700,000); Fiscal Year 2007: ¥12,700,000 (Direct Cost: ¥12,700,000); Fiscal Year 2006: ¥13,400,000 (Direct Cost: ¥13,400,000); Fiscal Year 2005: ¥12,700,000 (Direct Cost: ¥12,700,000); Fiscal Year 2004: ¥13,800,000 (Direct Cost: ¥13,800,000)
• Keywords: 機能要素 / メカトロニクス / ロボティクス / 情報機器・知能機械システム / 人間機械システム / アクチュエータ / ロボット / センサ

Research Abstract

多自由度メカトロニクス機器を対象としたインテリジェントアクチュエータの研究を行った.具体的には,(1)通信/制御機能を内蔵した電磁モータの開発とロボットへの適用,(2)通信/制御機能を内蔵した空圧アクチュエータの開発と,リンク機構への適用,(3)空気供給管に粗密波を重畳する新しい制御方式の実現,に成功した.
以上の3つのサブテーマを通して,多自由度のメカトロニクス機器用の新しいインテリジェントアクチュエータの設計法とシステム構築法を確立した.

Research Products

• [Journal Article] Development of an Intelligent Pneumatic Cylinder for Distributed Physical Human-Machine Interaction (2009)
  • Author(s): Ahmad 'Athif Mohd Faudzi, Koichi Suzumori and Shuichi Wakimoto
  • Journal Title: Advanced Robotics 23 Vol.23,No.1-2 Pages: 203-225
  • NAID: 10028166183
  • Peer Reviewed
• [Journal Article] Development of an Intelligent Pneumatic Cylinder for Distributed Physical Human-Machine Interaction (2009)
  • Author(s): Ahmad' Athif Mohd Faudzi, Koichi Suzumori, Shuichi Wakimoto
  • Journal Title: Advanced Robotics Vol.23, No Pages: 203-225
  • NAID: 10028166183
  • Peer Reviewed
• [Journal Article] 空気疎密波重畳によるアクチュエータ駆動 (2008)
  • Author(s): 鈴森康一,西岡靖貴
  • Journal Title: 日本フルードパワーシステム学会誌 Vol.39,No.5 Pages: 290-294
  • NAID: 10024324161
  • Peer Reviewed
• [Journal Article] Valve Operated by Multiplex Pneumatic Transmission, (2008)
  • Author(s): Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing Vol.2,No.2 Pages: 222-229
  • Peer Reviewed
• [Journal Article] マイクロ光エンコーダ内蔵小型空圧シリンダの開発と位置/力制御系への適用 (2008)
  • Author(s): 西岡靖貴,鈴森康一,田中淳一,佐々木篤志,遠山宗雄,河野一俊
  • Journal Title: ,日本フルードパワーシステム学会論文集 Vol.39,No.2 Pages: 34-39
  • NAID: 10024634160
  • Peer Reviewed
• [Journal Article] Pneumatic Valve Operated by Multiplex Pneumatic Transmission (2008)
  • Author(s): Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing Vol.2, No Pages: 222-229
  • NAID: 130000080771
  • Peer Reviewed
• [Journal Article] マイクロ光エンコーダ内蔵小型空圧シリンダの開発と位置/力制御系への適用 (2008)
  • Author(s): 西岡 靖貴, ほか
  • Journal Title: 日本フルードパワーシステム学会論文集 2-39 Pages: 111-119
  • Peer Reviewed
• [Journal Article] 多自由度メカトロニクス用インテリジェントアクチュエータ (2008)
  • Author(s): 鈴森 康一
  • Journal Title: 電気学会誌 Vol. 127. No. 5 Pages: 291-293
  • NAID: 10019931947
  • Peer Reviewed
• [Journal Article] 多自由度メカトロニクス用インテリジェントアクチュエータ (2007)
  • Author(s): 鈴森康一
  • Journal Title: 電気学会誌 Vol.127,No.5 Pages: 291-293
  • NAID: 10019931947
  • Peer Reviewed
• [Journal Article] フィジカルマンマシンインタラクション用アクティブ多面体の開発 (2006)
  • Author(s): 越智淳平,鈴森康一,神田岳文
  • Journal Title: 日本ロボット学会誌 Vol.24,No.2 Pages: 248-254
  • NAID: 10017964115
  • Peer Reviewed
• [Journal Article] Force-Presentation Method for Active Polyhedron for Realizing Physical Human-Machine Interaction (2006)
  • Author(s): H.Ogawa, K.Kosaka, K.Suzumori, T.Kanda
  • Journal Title: IEEE International Conference on Robotics and Automation Pages: 3941-3947
• [Journal Article] Intelligent Servo Actuators for Multidegrees of Freedom Mechatronics (2006)
  • Author(s): K.Suzumori, T.Kanda, K.Kosaka, K.Tsujino, K.Kure, H.Ogawa, A.Kuwada
  • Journal Title: 10th International conference on new actuators (ACTUATOR2006) Pages: 128-131
• [Journal Article] Intelligent Actuators Realizing Snake-like Small Robot for Pipe Inspection (2006)
  • Author(s): A.Kuwada, K.Tsujino, K.Suzumori, T.Kanda
  • Journal Title: International Symposium on Micro-Nano Mechatronics and Human Science Pages: 126-131
• [Journal Article] Development of Active Polyhedron for Physical Human-machine, Interaction and its Application to CAD/CAM Operation (2006)
  • Author(s): H.OGAWA, K.KOSAKA, K.SUZUMORI, T.KANDA
  • Journal Title: International Symposium on Micro-Nano Mechatronics and Human Science Pages: 126-131
• [Journal Article] フィジカルマンマシンインタラクション用アクティブ多面体の開発 (2006)
  • Author(s): 越智淳平, 鈴森康一, 神田岳文
  • Journal Title: 日本ロボット学会誌 24巻,2号 Pages: 102-108
  • NAID: 10017964115
• [Journal Article] Development of Active Links for Physical Man-Machine Interaction (2005)
  • Author(s): Jumpei Ochi, Koichi Suzumori, Junichi Tanaka, and Takefumi Kanda,
  • Journal Title: Journal of Robotics and Mechatronics Vol.17,No.3 Pages: 293-301
  • Peer Reviewed
• [Journal Article] インテリジェント空圧シリンダの開発とアクティブ多面体への応用 (2004)
  • Author(s): 鈴森康一
  • Journal Title: フルードパワーシステム 35巻6号 Pages: 396-400
  • NAID: 10029808526
  • Peer Reviewed
• [Journal Article] インテリジェント空圧シリンダの開発とアクティブ多面体への応用 (2004)
  • Author(s): 鈴森 康一
  • Journal Title: フルードパワーシステム 35巻,6号 Pages: 396-400
  • NAID: 10029808526
• [Presentation] Distributed Physical Human Machine Interaction Using Intelligent Pneumatic Cylinders (2008)
  • Author(s): Koichi Suzumori
  • Organizer: 2008 International Symposium on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya
  • Year and Date: 2008-11-08
• [Presentation] インテリジェント空圧シリンダの開発と120自由度リンク機構への応用 (2008)
  • Author(s): 久保知也, 小川浩史, 鈴森康一, 遠山宗雄
  • Organizer: 日本機械学会中国四国支部・九州支部合同企画岡山講演会
  • Place of Presentation: 岡山
  • Year and Date: 2008-10-22
• [Presentation] NEW PNEUMATIC ACTUATORS PRODUCING BREAKTHROUGH IN MECHATRONICS (2008)
  • Author(s): Koichi Suzumori
  • Organizer: 7th JFPS international Symposium on Fluid Power
  • Place of Presentation: 富山
  • Year and Date: 2008-09-18
• [Presentation] A NEW PNEUMATIC CONTROL SYSTEM USING MULTIPLEX PNEUMATIC TRANSMISSION (2008)
  • Author(s): Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, and Shuichi
  • Organizer: 7th JFPS International Symposium on Fluid Power
  • Place of Presentation: 富山
  • Year and Date: 2008-09-16
• [Presentation] 空気疎密波重畳によるアクチュエータ駆動 (2008)
  • Author(s): 鈴森康一, 西岡靖貴, 脇元修一
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 長野
  • Year and Date: 2008-09-09
• [Presentation] Negotiation Control for snake-like robot, (2008)
  • Author(s): Shuichi Wakimoto,
  • Organizer: 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: Xi'an
  • Year and Date: 2008-07-02
• [Presentation] Automatic Pipe Negotiation Control for snake-like robot (2008)
  • Author(s): Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, Yudai Adomi
  • Organizer: 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: 西安
  • Year and Date: 2008-07-02
• [Presentation] フィジカルヒューマンマシンインタラクション用アクティブ多面体の研究-空圧インテリジェントアクチュエータの開発と120自由度リンク機構の構築- (2008)
  • Author(s): 久保知也, 小川浩史, 鈴森康一, 遠山宗雄
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野
  • Year and Date: 2008-06-07
• [Presentation] 管径適応型管内移動ロボットの研究-第10報 : 管形状自動適応走行の実現- (2008)
  • Author(s): 桑田明菜, 鈴森康一, 安富雄大, 脇元修一
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野
  • Year and Date: 2008-06-07
• [Presentation] 多自由度空気圧システムの簡素化を目的とした疎密波重畳駆動システムの研究 (2008)
  • Author(s): 西岡靖貴, 鈴森康一, 神田岳文, 脇元修一
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野
  • Year and Date: 2008-06-06
• [Presentation] Control Approaches and Detecting Function of Intelligent Cylinder for Human Adaptive Mechanism (2008)
  • Author(s): Ahmad' Athif Mohd Faudzi, 鈴森康一, 脇元修一, 工藤弘行
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野
  • Year and Date: 2008-06-06
• [Presentation] NEW Pneumatic Actuastors Producing Breakthrough in Mechatoronics (2008)
  • Author(s): Koichi Suzumori
  • Organizer: 7th JFPS International Symposium on Fluid Power
  • Place of Presentation: Toyama
• [Presentation] A New Pneumatic Control System Using Multiplex Pneumatic Transmission (2008)
  • Author(s): Koichi Suzumori
  • Organizer: 7th JFPS International Symposium on Fluid Power
  • Place of Presentation: Toyama
• [Presentation] Snake-like Robot Negotiating Three-Dimensional Pipelines (2007)
  • Author(s): Koichi Suzumori
  • Organizer: 2007 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Sanya
  • Year and Date: 2007-12-17
• [Presentation] Snake-like Robot Negotiating Three-Dimensional Pipelines (2007)
  • Author(s): Akina Kuwada, ほか
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Sannya. China
  • Year and Date: 2007-12-17
• [Presentation] 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究(第2れ;報機能検証用バルブを用いた2シリンダの独立駆動実験) (2007)
  • Author(s): 西岡 靖貴, ほか
  • Organizer: 平成19年秋季フルードパワーシステム講演会
  • Place of Presentation: 鹿児島
  • Year and Date: 2007-11-16
• [Presentation] 大変位空圧サーボシリンダの開発 (2007)
  • Author(s): 小川 浩史, ほか
  • Organizer: 日本機械学会創立110周年記念2007年度年次大会
  • Place of Presentation: 大阪
  • Year and Date: 2007-09-10
• [Presentation] Pneumatic valve operated by multiplex pneumatic transmission (2007)
  • Author(s): Yasutaka Nishioka, ほか
  • Organizer: JSME-KSME Joint International Conference on Manufacturing, Machine Design and Tribology (ICMDT 2007)
  • Place of Presentation: 札幌
  • Year and Date: 2007-07-03
• [Presentation] Pneumatic valve operated by multiplex pneumatic transmission JSME-KSME Joint International Conference on Manufacturing (2007)
  • Author(s): Koichi Suzumori
  • Organizer: Machine Design and Tribology (ICMDT 2007)
  • Place of Presentation: Sapporo
• [Presentation] Suzumori,Development of Active Polyhedron for Physical Human-Machine Interaction and its Application to CAD/CAM Operation (2006)
  • Author(s): Koichi Suzumori
  • Organizer: 2006 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: Nagoya
  • Year and Date: 2006-11-06
• [Presentation] Intelligent Actuators Realizing Snake-like Small Robot for Pipe Inspection (2006)
  • Author(s): Koichi Suzumori
  • Organizer: 2006 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: Nagoya
  • Year and Date: 2006-11-06
• [Presentation] Force-Presentation Method for Active Polyhedron for Realizing Physical Human-Machine Interaction (2006)
  • Author(s): Koichi Suzumori
  • Organizer: 2006 IEEE International Conference on Robotics and Automation
  • Place of Presentation: San Diego
  • Year and Date: 2006-05-18
• [Presentation] Intelligent ServoActuators for Multidegrees of Freedom Mechatoronics (2006)
  • Author(s): Koichi Suzumori
  • Organizer: 10th International Conference on New Actuators
  • Place of Presentation: Bremen
• [Presentation] Development of an Intelligent Pneumatic Cylinder and Its Application to Pneumatic Servo Mechanism (2005)
  • Author(s): Koichi Suzumori
  • Organizer: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2005)
  • Place of Presentation: Monterey
  • Year and Date: 2005-07-25
• [Presentation] Development of Active Icosahedron and its Application to Virtual Clay Modeling (2004)
  • Author(s): Koichi Suzumori
  • Organizer: Proceedings of the 2004 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: Nagoya
  • Year and Date: 2004-11-01
• [Presentation] Active Link Mechanisms for Physical Man-Machine Interaction (2004)
  • Author(s): Koichi Suzumori
  • Organizer: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Sendai
• [Patent(Industrial Property Rights)] 共振制御式流体圧制御システムおよびその制御システム用流体圧制御弁 (2005)
  • Inventor(s): 鈴森康一
  • Industrial Property Rights Holder: 岡山大学
  • Industrial Property Number: 2005-347032
  • Filing Date: 2005-11-30