| Project/Area Number |
17K06242
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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 |
Dynamics/Control
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| Research Institution | Fukuoka University |
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Principal Investigator |
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| Project Period (FY) |
2017-04-01 – 2021-03-31
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| Project Status |
Completed (Fiscal Year 2020)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2019: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2018: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | ロボット / 省エネルギー駆動 / マルチボディダイナミクス / 受動ストレージ要素 / 最適制御 / 剛性可変機構 / 省エネルギー / 機械力学・制御 / 省エネルギー化 |
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| Outline of Final Research Achievements |
In the previous research, the principal investigator proposed an "energy-saving control method using passive storage elements" that can be applied to serial robots, but various problems remained in its practical application. In this research, by developing a novel variable stiffness mechanism and improving the control method, we solved the problems such as difficulty in changing the boundary conditions and insufficient positioning accuracy, which were problems with the proposed method. In addition, the theory was extended so that it could be applied to robots with structures other than serial type. As a result, we succeeded in establishing the proposed method as a practical technology that can be applied to a wide class of multibody systems. The practicality and energy saving effect of the proposed method were demonstrated through actual machine experiments.
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| Academic Significance and Societal Importance of the Research Achievements |
近年，機械システムに対して省エネルギー化の要求が非常に厳しくなっている．工場等で利用されているロボットや機械システムは周期的な運動を行っているものが多いが，本研究で確立した省エネルギー駆動法は，周期運動を行う広いクラスのマルチボディシステムに対して適用することが可能であり，従来よりも消費エネルギーを1/10以下に低減できることが明らかになっている．すなわち，これまで１台に消費していたエネルギーで10台を稼働できるようになるため，その意義は非常に大きいと考えられる．
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