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Study on efficient compact parallel elastic actuators using plate spring and DD motor for periodic movement

Research Project

Project/Area Number 19K14949
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionRitsumeikan University

Principal Investigator

Kakogawa Atsushi  立命館大学, 理工学部, 講師 (50755486)

Project Period (FY) 2019-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywords並列弾性アクチュエータ / 共振 / 板バネ / 周期運動 / 変分法 / ダイレクトドライブモータ / 有限要素解析
Outline of Research at the Start

本研究では,DDモータ(ダイレクトドライブモータ)と板バネを組み合わせることにより,エネルギー損失を抑えた小型の並列弾性アクチュエータの設計理論および制御理論の構築を行う.これを達成するため,DDモータの電気的動特性や機械的動特性,ロボットの剛体が持つ動特性などを考慮した動作周波数や板バネの曲げ剛性のモデル化などを行い,並列弾性アクチュエータ全体の力学および制御モデルを構築することにより,効率向上のための動作周波数と板バネの板幅,板厚などの関係を理論的に明らかにする.最後にヘビ型ロボットを構成し,周期的な蛇行運動時における最適な動作周波数,板バネなどのパラメータの導出と実験による検証を行う.

Outline of Final Research Achievements

The energy efficiency of a snake-like robot with plate-springed parallel elastic actuators was verified by simulation and experiments. First, the stiffness of the plate spring was modeled using a discrete model called the Rigid Body Spring Model (RBSM) method and numerical calculations, and a dynamics of the snake-like robot was modeled. Based on these models, the stiffness of the plate spring and the movement speed of the robot to minimize the joint torque were clarified by simulation. Finally, a snake-like robot was developed and its motion efficiency was evaluated using a CoT (Cost of Transport). The maximum energy efficiency improvement of about 50% was achieved.

Academic Significance and Societal Importance of the Research Achievements

周期運動を伴うロボットに弾性体を取り付けて運動を効率化する並列弾性アクチュエータはこれまでも数多く研究されてきたが,本体が複雑化,大型化する傾向にあった.一方,本研究で提案した板バネ式並列弾性アクチュエータは薄板金属である板バネを取り付けるだけなので構造がシンプルでほとんど大型化せずに済む.また,板バネは薄い長方形という単純な形状でありながら,板厚,長さ,幅,材料などを変更するだけで簡単に剛性を変化させられるため,低価格化や設計自由度の向上などにもつながる.本研究の成果により,ピックアンドプレイス,歩行,蛇行などの往復運動を行う小型のロボットや機械装置の高効率化が期待できる.

Report

(3 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • Research Products

    (16 results)

All 2021 2020 2019

All Journal Article (3 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 3 results) Presentation (9 results) (of which Int'l Joint Research: 3 results) Book (1 results) Patent(Industrial Property Rights) (3 results)

  • [Journal Article] Plate-springed Parallel Elastic Actuator for Efficient Snake Robot Movement2021

    • Author(s)
      Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: Accepted Issue: 6 Pages: 3051-3063

    • DOI

      10.1109/tmech.2021.3052037

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Shadow-Based Operation Assistant for a Pipeline-Inspection Robot Using a Variance Value of the Image Histogram2019

    • Author(s)
      Atsushi Kakogawa, Yuki Komurasaki, and Shugen Ma
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 31 Issue: 6 Pages: 772-780

    • DOI

      10.20965/jrm.2019.p0772

    • NAID

      130007769591

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2019-12-20
    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Suppression of Energy Consumption for Snake Robots using Parallel Elastic Actuators during Low Speed Movement2019

    • Author(s)
      加古川篤,川端泰平,馬書根
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 32 Issue: 6 Pages: 227-233

    • DOI

      10.5687/iscie.32.227

    • NAID

      130007706928

    • ISSN
      1342-5668, 2185-811X
    • Year and Date
      2019-06-15
    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Presentation] バイナリ制御を用いたヘビ型ロボットの高効率な運動の検討2020

    • Author(s)
      勝間洋平,加古川篤,馬書根
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot2019

    • Author(s)
      Atsushi Kakogawa, Taihei Kawabata, and Shugen Ma
    • Organizer
      IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics (AIM 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Joint Angle Control of an 8-inch Gas Pipeline Inspection Robot to Pass through Bends2019

    • Author(s)
      Sera Fumiya, Atsushi Kakogawa, and Shugen Ma
    • Organizer
      The 2019 International Conference on Advanced Mechatronic Systems (ICAMechS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] An In-pipe Inspection Module with an Omnidirectional Bent-pipe Self-adaptation Mechanism using a Joint Torque Control2019

    • Author(s)
      Atsushi Kakogawa and Shugen Ma
    • Organizer
      IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Control System Design for the Quadruped Walking Platform TITAN-VIII2019

    • Author(s)
      Guoteng Zhang, Yang Tian, Shugen Ma and Atsushi Kakogawa
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019
    • Related Report
      2019 Research-status Report
  • [Presentation] ベルヌーイの原理を利用した非接触水中壁面吸着機構の吸着力のモデル構築2019

    • Author(s)
      柴田大地,馬書根,加古川篤
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019
    • Related Report
      2019 Research-status Report
  • [Presentation] 水中における偏心パドル機構の新たな水泳方法の提案2019

    • Author(s)
      沈雅怡,馬書根,加古川篤,田陽,張国騰,井上脩也
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019
    • Related Report
      2019 Research-status Report
  • [Presentation] 8インチガス管内検査ロボットの曲管走行のための関節角度制御2019

    • Author(s)
      世良文哉,加古川篤,馬書根
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019
    • Related Report
      2019 Research-status Report
  • [Presentation] 把持と引き上げ動作が可能な空気圧グリッパーの開発2019

    • Author(s)
      海津祐貴,加古川篤,馬書根
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019
    • Related Report
      2019 Research-status Report
  • [Book] Robotic Search and Rescue through In-pipe Movement2019

    • Author(s)
      Atsushi Kakogawa and Shugen Ma
    • Total Pages
      14
    • Publisher
      IntechOpen "Unmanned Robotic Systems and Applications"
    • ISBN
      9781789845679
    • Related Report
      2019 Research-status Report
  • [Patent(Industrial Property Rights)] 管内走行装置2019

    • Inventor(s)
      馬書根・加古川篤
    • Industrial Property Rights Holder
      学校法人立命館
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-102358
    • Filing Date
      2019
    • Related Report
      2019 Research-status Report
  • [Patent(Industrial Property Rights)] 把持装置2019

    • Inventor(s)
      馬書根,加古川篤,海津祐貴
    • Industrial Property Rights Holder
      学校法人立命館
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-213940
    • Filing Date
      2019
    • Related Report
      2019 Research-status Report
  • [Patent(Industrial Property Rights)] 弾性機構並びにそれを用いたアクチュエータ及び関節機構2019

    • Inventor(s)
      川村貞夫,加古川篤,松井琢磨
    • Industrial Property Rights Holder
      学校法人立命館
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-030044
    • Filing Date
      2019
    • Related Report
      2019 Research-status Report

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Published: 2019-04-18   Modified: 2022-01-27  

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