| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Research Abstract |
Usage of impact for robot manipulation brings some merits; instant very large impact force can be generated, faster speed of object by hitting by robot arm, etc. But, since the mechanism itself has also the impact force, the mechanism or its actuator will be damaged. In this research we introduce clutches into each joint to isolate the actuators from impact force. Sweet spot method and under-actuated manipulator are introduced to reduce number of clutches.
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