| Project/Area Number |
24510230
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Social systems engineering/Safety system
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| Research Institution | The University of Kitakyushu |
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Principal Investigator |
KIYOTA Takanori 北九州市立大学, 国際環境工学部, 教授 (00195405)
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| Co-Investigator(Kenkyū-buntansha) |
MINAMIYAMA Yasuhiro 久留米工業高等専門学校, 機械工学科, 助教 (20549688)
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| Research Collaborator |
SUGIMOTO Noboru 明治大学, 教授
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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 |
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 安全工学 / 制御工学 / メカトロニクス / 空気圧システム / 空気圧アクチュエータ |
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| Outline of Final Research Achievements |
The "Passive Dynamic Control (PDC)" is a mechanical system control method with high-safety, and it achieves positioning control and speed control by operating the brake. In this research project, three types of two-link manipulators using pneumatic rubber artificial muscles were developed, two in horizontal plane and one in vertical plane, and the effectiveness of the PDC were shown. The improved PDC in which the PID control was used together was proposed, and better results than the PDC were obtained in control performance. Furthermore, additional two-link manipulator using rotary pneumatic cylinders and a power-assistive device based on a new mechanism were developed, and effects of the PDC were validated.
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