Mechanical properties analysis of parallel link mechanism and its application to new end-effector of robotic manipulator
Project/Area Number |
26820088
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Multi-year Fund |
Research Field |
Intelligent mechanics/Mechanical systems
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Research Institution | Okayama University |
Principal Investigator |
|
Research Collaborator |
WATANABE Tomotoshi
|
Project Period (FY) |
2014-04-01 – 2017-03-31
|
Project Status |
Completed (Fiscal Year 2016)
|
Budget Amount *help |
¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2014: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
|
Keywords | パラレルリンク / エンドエフェクタ / 産業用マニピュレータ / 組立作業自動化 / ロボット工学 / 手先効果器 |
Outline of Final Research Achievements |
The purpose of this research is to develop an end-effector of a new mechanism that realizes the assembling work involving the contact between small parts with a robot. Automation is important in the improvement work of assembling small part. In order to develop an end-effector using the delta-type parallel link mechanism, we considered the link length of the parallel link mechanism based on both kinematics of the end-effector and Jacobian of it.
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Report
(4 results)
Research Products
(3 results)