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Research of Impact Manipulation

Research Project

Project/Area Number 21560257
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionUniversity of Tsukuba

Principal Investigator

AIYAMA Yasumichi  筑波大学, システム情報系, 准教授 (60272374)

Project Period (FY) 2009 – 2012
Project Status Completed (Fiscal Year 2012)
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)
Keywordsマニピュレーション / 衝突 / 撃力 / インパクト・マニピュレーション / ロボット / 摩擦 / 見かけの慣性 / タッピング / 衝突モデル / みかけの慣性 / ロボット・マニピュレーション
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.

Report

(5 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Annual Research Report
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (3 results)

All 2011 2010

All Presentation (3 results)

  • [Presentation] 衝突を利用したマニピュレータ手先運動の高速化2011

    • Author(s)
      越後谷俊介・相山康道
    • Organizer
      第16回ロボティクス・シンポジア
    • Place of Presentation
      指宿シーサイドホテル
    • Year and Date
      2011-03-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] 衝突を利用したマニピュレータ手先運動の高速化2011

    • Author(s)
      越後谷駿介, 相山康道
    • Organizer
      第16回ロボティクス・シンポジア予稿集
    • Place of Presentation
      指宿
    • Related Report
      2012 Final Research Report
  • [Presentation] マニピュレータの見かけの慣性を利用したインパクト・マニピュレーション2010

    • Author(s)
      越後谷駿介・相山康道
    • Organizer
      日本機械学会関東支部第16期総会講演会
    • Place of Presentation
      明治大学駿河台キャンパス
    • Year and Date
      2010-03-10
    • Related Report
      2009 Annual Research Report

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Published: 2009-04-01   Modified: 2019-07-29  

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