Development of hybrid manipulators which achieve precise motions within a large workspace
Project/Area Number |
21560143
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Design engineering/Machine functional elements/Tribology
|
Research Institution | Tokyo Institute of Technology |
Principal Investigator |
TAKEDA Yukio 東京工業大学, 大学院・理工学研究科, 准教授 (20216914)
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2009: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
|
Keywords | 機構学 / ロボット工学 / パラレルメカニズム / ハイブリッドマニピュレータ / 機構総合 / キャリブレーション / 誤差解析 / 剛性解析 / 誤差補償 / ハイブリッドマニピユレータ |
Research Abstract |
Hybrid manipulator which is composed of a translational parallel mechanism and a pure-rotational parallel mechanism has been proposed. Methods for mechanism design and kinematic calibration of such hybrid manipulator have been investigated for achieving precise motion within a large workspace.
|
Report
(4 results)
Research Products
(24 results)