| Project/Area Number |
17K12757
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Fukushima University |
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Principal Investigator |
CANETE LUIS 福島大学, 共生システム理工学類, 研究員(プロジェクト) (80795708)
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| Project Period (FY) |
2017-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2018: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2017: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | Omni-wheel / Dynamic Braking / Magnet wheel / Actuated roller / Transmission System / Dynamic braking / Omni-wheel rollers / Magnet gear / Magnetic gear |
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| Outline of Final Research Achievements |
The original proposal aimed to develop an omni-wheel with the capability of applying dynamic braking on the wheels. However, this proved difficult due to the imbalances in the applied braking force between different rollers. And so the author focused on the development of a transmission system able to apply torque to all rollers from one device. The developed magnet gear system has a central magnet gear connected to the braking device and small magnet gears embedded in the rollers. As a result, the mechanism is not only able to apply a braking force but an actuating force as well which exceeds the initial proposal. A cooperative differential drive test robot platform equipped with the developed wheels was implemented and tests showed that dynamic braking
improves mobility as predicted. The author received two Best Presentation awards from two conferences the JSME Robomech 2018 and the SICE System Integration 2018.
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| Academic Significance and Societal Importance of the Research Achievements |
To the best of the author's knowledge, roller braking is a new technique that has not yet been explored by other researchers. The developed magnetic transmission based omni-wheel is unique and can be used as a platform of new development for wheeled mobile robots.
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