• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

A Study of Manipulator Including Gripper with Multiple Degrees of Mobility

Research Project

Project/Area Number 61550108
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械要素
Research InstitutionTokyo Institute of Technology

Principal Investigator

SATO Osamu  Tokyo Institute of Technology, Faculty of Engineering, 工学部, 助手 (20134827)

Co-Investigator(Kenkyū-buntansha) SHIMOJIMA Hiroshi  Tokyo Institute of Technology, Faculty of Engineering, 工学部, 助教授 (20016629)
Project Period (FY) 1986 – 1987
Project Status Completed (Fiscal Year 1987)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1987: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1986: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsNumber Synthesis / Dimensional Synthesis / Grasping Characteristics / Torsional Vibration / Bending Vibration / 搬送機
Research Abstract

The number and dimensional syntheses of mechanical grippers with multiple degrees of mobility are presented systematically. Several types of contacts of fingers with a grasped body are considered as kinematic pairs, and number conditions for grasping a body are derived by applying grubler's mobility equation to the gripper-body kinematic system. A numer synthesis of a gripper with one input and three degrees of mobility, as an example, is carried out, and dimensions of parameters of such a gripper are determined by considering action forces and transmissibilities. Moreover, the graspable size of a circular cylinder by such a gripper is obtained, and is compared numerically to that with the use of a conventional parallel-two-finger-type gripper.
And, the equations of motion of manipulator for positioning the gripper are derived considering the torsion of shafts, the bending of links and the characteristics of driving sources. Applying the bang-bang method for attenuating the residual vibrations of the system, the dynamic characteristics of the system are analyzed theoretically and investigated experimentally.

Report

(2 results)
  • 1987 Final Research Report Summary
  • 1986 Annual Research Report
  • Research Products

    (9 results)

All Other

All Publications (9 results)

  • [Publications] 下嶋浩: 日本機械学会論文集(C編). 52. 1848-1852 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 下嶋浩: 日本機械学会論文集(C編). 52. 2242-2247 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 佐藤浩: 日本機械学会論文集(C編). 52. 2623-2629 (1986)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 佐藤浩: 日本機械学会論文集(C編). 53. 671-677 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 佐藤浩: 日本機械学会論文集(C編).

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Hiroshi Shimojima: "A Study of Grippers with Multiple Degrees of Mobility" JSME International Journal. 30. 515-522 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] Osamu Sato: "Positioning Control of a Gear Train System Including Flexible Shafts" JSME International Journal. 30. 1465-1472 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1987 Final Research Report Summary
  • [Publications] 下嶋浩: 日本機械学会論文集(C編). 52. 1848-1852 (1986)

    • Related Report
      1986 Annual Research Report
  • [Publications] 下嶋浩: 日本機械学会論文集(C編). 52. 2242-2247 (1986)

    • Related Report
      1986 Annual Research Report

URL: 

Published: 1987-03-31   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi