Mechanical properties analysis of parallel link mechanism and its application to new end-effector of robotic manipulator

Research Project

Project/Area Number	26820088
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Multi-year Fund
Research Field	Intelligent mechanics/Mechanical systems
Research Institution	Okayama University
Principal Investigator	Matsuno Takayuki 岡山大学, 自然科学研究科, 准教授 (50377842)
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.

Report

(4 results)