| Project/Area Number |
20560238
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kobe University |
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Principal Investigator |
HANAHARA Kazuyuki 神戸大学, 大学院・システム情報学研究科, 准教授 (70254430)
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| Co-Investigator(Kenkyū-buntansha) |
TADA Yukio 神戸大学, 大学院・システム情報学研究科, 教授 (70135812)
URAKUBO Takateru 神戸大学, 大学院・システム情報学研究科, 助教 (10335424)
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| Project Period (FY) |
2008 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2008: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | メカトロニクス / 可変形状トラス / 形状記憶合金 / 試作システム / 運動学 / 逆運動学 / 動作生成 / 並列メカニズム / 特異姿勢 / シミュレーション / 運動方程式 / 動力学特性 / 残留振動 / 力学特性モデル / 適応構造物 / 不静定のトポロジ |
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| Research Abstract |
Variable geometry truss(VGT) is a typical structural system consisting of a number of length-adjustable truss members. In this study, we deal with this type of mechanical system having a number of shape memory alloy(SMA) wires as its actuators. Kinematical as well as dynamic characteristics of the SMA-wire actuated VGT are studied. The feasibility is also demonstrated through experimental studies with 2D and 3D prototype VGT systems.
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