| Budget Amount *help |
¥46,020,000 (Direct Cost: ¥35,400,000、Indirect Cost: ¥10,620,000)
Fiscal Year 2015: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Fiscal Year 2014: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000)
Fiscal Year 2013: ¥13,780,000 (Direct Cost: ¥10,600,000、Indirect Cost: ¥3,180,000)
Fiscal Year 2012: ¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
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| Outline of Final Research Achievements |
A spherical motor control theory is developed based on the polyhedron geometry. And extend the theory to the design, analysis, and control theory of the conventional electromechanical systems. Extend the conventional motor design, analysis, and control theory which handles the torque and material characteristics as the scalar quantity into the three dimensional vector space. Based on the polyhedron geometry, spherical posture sensor, spherical rotor support mechanism, and spherical speed reducer are designed and developed. A spherical drive system is developed and the developed control theories are demonstrated by the basic experiments.
Developed spherical drive system performances are tested by the developed spherical drive system test bed. A novel phenomenon, for example, motion vector degeneration is observed, which is not observed through the test of one degree-of-freedom speed reducer.
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