| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2008: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Research Abstract |
In this study, a new small-sized 3-DOF joint actuator with high torque and wide-angle and a feedback control method using two image sensors were developed. I secured enough performance for the deployment to a humanoid robot arm and found high positioning precision by the combination with zero point sensing method using the Hall element. Furthermore, I developed the advanced dynamic analysis method for the actuator employing the three-dimensional finite element method and found that it was effective in optimal design through the comparison with the measurement on a prototype.
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