Dynamic Plastic Deformation Distribution Control of a Rheological Object

• Project/Area Number: 22760185
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka University
• Principal Investigator: HIGASHIMORI Mitsuru 大阪大学, 大学院・工学研究科, 准教授 (30346522)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000); Fiscal Year 2011: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2010: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: レオロジー物体 / 成形制御 / 粘弾性モデル / 変形分布制御 / 食品ハンドリング / 粘弾性モデリング

Research Abstract

A shaping strategy of a rheological object was proposed. We introduced a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we showed a shaping method of the object' s outline, where the proportion of the input axis to another one, which is perpendicular to the input one, is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the object' s final outline. We showed the experimental results for confirming the validity of the proposed method.

Research Products

• [Journal Article] 面状レオロジー物体の非把持ダイナミックシェイピング (2011)
  • Author(s): 東森充, 稲原知幸, 多田隈建二郎, 金子真
  • Journal Title: 日本ロボット学会誌 Volume: 29-10 Pages: 934-942
  • NAID: 10030208715
  • Peer Reviewed
• [Presentation] Dynamic Nonprehensile Shaping of a Thin Rheological Object (2011)
  • Author(s): T. Inahara, M. Higashimori, K. Tadakuma, and M. Kaneko
  • Organizer: Proc. of the IEEE/ RSJ Int. Conf. on Intelligent Robots and Systems(IROS2011)
  • Place of Presentation: San Francisco, CA, USA
  • Year and Date: 2011-09-27
• [Presentation] Active Outline Shaping of a Rheological Object Based on Plastic Deformation Distribution (2011)
  • Author(s): K.Yoshimoto, M.Higashimori, K.Tadakuma, M.Kaneko
  • Organizer: IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2011)
  • Place of Presentation: San Francisco, CA, USA
  • Year and Date: 2011-09-27
• [Presentation] 非把持形態によるレオロジー物体の変形制御 (2011)
  • Author(s): 稲原知幸, 東森充, イクシェル・ラミレス, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス部門ロボティクス・メカトロニクス講演会2011講演論文集
  • Place of Presentation: 岡山市
  • Year and Date: 2011-05-28
• [Presentation] 非把持形態によるレオロジー物体の変形制御 (2011)
  • Author(s): 稲原知幸, 東森充, イクシェル・ラミレス, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス部門ロボティクス・メカトロニクス講演会2011
  • Place of Presentation: 岡山コンベンションセンター
  • Year and Date: 2011-05-26
• [Presentation] Nonprehensile Dynamic Manipulation of a Sheet-like Viscoelastic Object (2011)
  • Author(s): I. G. Ramirez-Alpizar, M. Higashimori, M. Kaneko, C. Tsai, and I. Kao
  • Organizer: Proc. of the IEEE Int. Conf. on Robotics and Automation(ICRA11)
  • Place of Presentation: Shanghai, China
  • Year and Date: 2011-05-12
• [Presentation] 面状レオロジー物体の非把持ダイナミックシェイピング (2010)
  • Author(s): 稲原知幸, 東森充, 金子真
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)論文集
  • Place of Presentation: 東北大学(仙台市)
  • Year and Date: 2010-12-23
• [Presentation] 粘弾性物体の非把持ダイナミックマニピュレーション (2010)
  • Author(s): ラミレスイクシェル, 東森充, 金子真
  • Organizer: 第28回日本ロボット学会学術講演会予稿集
  • Place of Presentation: 名古屋市
  • Year and Date: 2010-09-22
• [Presentation] 粘弾性物体の非把持ダイナミックマニピュレーション (2010)
  • Author(s): ラミレスイクシェル, 東森充, 金子真
  • Organizer: 第28回日本ロボット学会学術講演会予稿集
  • Place of Presentation: 名古屋工業大学(名古屋市)
  • Year and Date: 2010-09-22