Study on a spherical actuator for humanoid robots
Project/Area Number |
26289077
|
Research Category |
Grant-in-Aid for Scientific Research (B)
|
Allocation Type | Partial Multi-year Fund |
Section | 一般 |
Research Field |
Power engineering/Power conversion/Electric machinery
|
Research Institution | Osaka University |
Principal Investigator |
HIRATA Katsuhiro 大阪大学, 工学(系)研究科(研究院), 教授 (00403139)
|
Co-Investigator(Renkei-kenkyūsha) |
NIGUCHI Noboru 大阪大学, 大学院工学研究科, 助教 (60614039)
|
Project Period (FY) |
2014-04-01 – 2017-03-31
|
Project Status |
Completed (Fiscal Year 2016)
|
Budget Amount *help |
¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
Fiscal Year 2016: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2015: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2014: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
|
Keywords | 球面アクチュエータ / ロボット / アクチュエータ / センサ / 三自由度 / ロボット用アクチュエータ |
Outline of Final Research Achievements |
We developed a 3-degree-of-freedom (3-DOF) outer rotor type spherical actuator for spherical joints. It was difficult to evaluate the torque characteristics of the 3-DOF spherical actuator, and to compare among spherical actuators. In this research we developed an evaluation method using a torque map, and realized a torque evaluation at a given position. In addition, we proposed a method to create a torque map of a real machine using magnetic fluxes, and they showed a good agreement with a computed torque map. Finally, a position sensing method using color maps were developed.
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Report
(4 results)
Research Products
(26 results)