| Project/Area Number |
25289020
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Design engineering/Machine functional elements/Tribology
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
TAKEDA YUKIO 東京工業大学, 理工学研究科, 教授 (20216914)
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| Co-Investigator(Renkei-kenkyūsha) |
MATSUURA DAISUKE 東京工業大学, 大学院理工学研究科, 助教 (40618740)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥13,390,000 (Direct Cost: ¥10,300,000、Indirect Cost: ¥3,090,000)
Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2014: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
Fiscal Year 2013: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
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| Keywords | 機械設計 / ロボット工学 / 機構学 / 弾性ジョイント / パラレルマニピュレータ / 機構設計 / 剛性解析 |
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| Outline of Final Research Achievements |
Structural synthesis of position-orientation decoupled parallel mechanism composed of a target point controlling chain and two rotational motion generating chains was carried out. As the result, 24 kinematic structures were figured out. Kinematic analysis of a mechanism among them was carried out to evaluate workspace, accuracy and singularity. Stiffness and displacement-dependent drift of a flexure revolute joint, which is composed of two frames and in-parallel arranged thin plates, were theoretically and experimentally investigated, while a spatial mechanism based on the Oldham's coupling mechanism was developed as a measurement apparatus used in our experiments. A new design of the joint including material selection was proposed for better stable behavior of it. A parallel robot with a position-orientation decoupled structure was designed and built, and experimental results showed its good performance in workspace and accuracy.
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