| Project/Area Number |
26289025
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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 |
Yoshida Kazuhiro 東京工業大学, 科学技術創成研究院, 教授 (00220632)
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| Co-Investigator(Kenkyū-buntansha) |
金 俊完 東京工業大学, 科学技術創成研究院, 准教授 (40401517)
嚴 祥仁 東京工業大学, 科学技術創成研究院, 助教 (20551576)
横田 眞一 東京工業大学, 精密工学研究所, 教授 (10092579)
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| Project Period (FY) |
2014-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥16,510,000 (Direct Cost: ¥12,700,000、Indirect Cost: ¥3,810,000)
Fiscal Year 2016: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
Fiscal Year 2015: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2014: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
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| Keywords | マイクロマシン / 先端機能デバイス / マイクロロボット / ER（電気粘性）流体 / 交流圧力 / MEMS / ソフトロボット / アクチュエータ / 多自由度 / 高アスペクト比 |
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| Outline of Final Research Achievements |
For a microrobot performing high-power needed tasks in narrow space in rubble at disaster sites, small diameter pipes in chemical plants, etc., a multiple ER microfinger system using an alternating pressure source was expanded, which rectifies alternating flow of electro-rheological (ER) fluid by its viscosity change due to the synchronously applied electric field. First, a 1.6 mm long ER microfinger was developed using MEMS technologies. Second, a 1.9 mm long two-DOF PDMS finger part was fabricated and characterized pneumatically. Third, a micro alternating pressure source with 3.3 mm in diameter was fabricated using piezoelectric bimorph and its bandwidth of 200 Hz was clarified. Finally, a two-DOF ER microfinger system was fabricated on a chip.
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