Nonprehensile Dynamic Manipulation of Deformable Object with Rheology Characteristics
Project/Area Number |
24360097
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Research Category |
Grant-in-Aid for Scientific Research (B)
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Allocation Type | Partial Multi-year Fund |
Section | 一般 |
Research Field |
Intelligent mechanics/Mechanical systems
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Research Institution | Osaka University |
Principal Investigator |
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Co-Investigator(Kenkyū-buntansha) |
TADAKUMA Kenjiro 大阪大学, 大学院工学研究科, 助教 (30508833)
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Project Period (FY) |
2012-04-01 – 2015-03-31
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Project Status |
Completed (Fiscal Year 2014)
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Budget Amount *help |
¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000)
Fiscal Year 2014: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2013: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
Fiscal Year 2012: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
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Keywords | ダイナミックマニピュレーション / 非把持マニピュレーション / 柔軟物体 / レオロジー特性 / 変形制御 / 粘弾性要素 / レオロジー物体 / マニピュレーション / 非把持 |
Outline of Final Research Achievements |
This work studied a dynamic nonprehensile manipulation of a deformable object, where the shape of a deformable object is controlled by using the plate's rapid vibration. After experimentally confirming the feasibility of the manipulation principle, we introduced a simplified analytical model where a deformable object is modeled by two mass points and the plate has two degrees of freedom. Using this model, we investigated how the object's behavior changes with respect to the amplitude of the rotational angular acceleration of the plate. We showed that the behaviors of the mass points and the whole object are governed by the six non-dimensional boundary amplitudes. Through simulation analysis, we then revealed that the optimal plate's motion leading to the maximal deformation velocity is provided by one of the six boundary amplitudes.
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Report
(4 results)
Research Products
(18 results)
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[Presentation] 口腔温を考慮したゲル状食品の食感評価システム2014
Author(s)
山本武, 東森充, 金子真, 福田修, 中尾理美, 池上聡, 中馬誠
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2014講演論文集
Place of Presentation
富山国際会議場(富山市)
Year and Date
2014-05-27
Related Report
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