Development of a humanoid robot with mega-torque actuators using magnetic harmonic gears
| Project/Area Number |
23360125
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Osaka University |
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Principal Investigator |
HIRATA Katsuhiro 大阪大学, 工学(系)研究科(研究院), 教授 (00403139)
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| Co-Investigator(Kenkyū-buntansha) |
KAWASE Yoshihiro 岐阜大学, 工学部, 教授 (20144735)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥19,500,000 (Direct Cost: ¥15,000,000、Indirect Cost: ¥4,500,000)
Fiscal Year 2013: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2012: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Fiscal Year 2011: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
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| Keywords | 磁気ギアードアクチュエータ / 磁気ギア / ロボット / 有限要素法 / 電磁場解析 / 多自由度モータ / アクチュエータ / モータ / 減速機 / 磁力 |
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| Research Abstract |
In this study, a new magnetic gear was proposed to realize high torque and high efficiency using the concept of our magnetic harmonic gear. The high end magnetic gear was developed through the numerical approach to optimize the magnetic structure parameter of the proposed model. Moreover, a remarkable mega torque actuator was developed by combining a magnetic gear with an actuator. In addition, design tool for mega-torque actuator was developed for large scale parallel computing employing FEM. The computation accuracy of this tool was verified through the comparison with the measurement on a prototype.
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Report
(4 results)
Research Products
(58 results)
