2021 Fiscal Year Final Research Report
Mechanical Properties of Multi-jointed Robot Covered with Thin Flexible Material
| Project/Area Number |
19K04317
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Kindai University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | 多関節ロボット / 薄型柔軟素材 / 摺動特性 / パッキング |
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| Outline of Final Research Achievements |
This study examines the dynamic characteristics of a serial link robot covered with thin, flexible material. In this mechanism, the active rotary joint is covered the plastic film bag using the vacuum packaging technology, and this technique is called the robot packaging method. The constructed mechanical model revealed that the torque required to rotate the link is briefly required to stretch the thin, flexible material when there is no slippage between the covered thin, flexible material and the link. It was also found that the torque required to rotate the link depends on the friction coefficient when there is slippage between the covered, thin, flexible material and the link.
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| Free Research Field |
ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
食品・服飾・リネンサプライなどの生活用品を扱う工業においては，扱う物体の多くが水分を含み不定形であり，扱う際に汚れが付着してはいけないという制約がある．この背景から，生活用品をハンドリングする分野では産業用ロボットの導入が進んでいない．人の作業に倣い，ロボットにもゴムや樹脂フィルムなどの薄型柔軟素材を被覆することで作業が可能になると考えられるが，ロボットと被覆した薄型柔軟素材は摺動すべきかなど，その力学構造は未知の部分が多く，設計論が確立していなかった．本研究で得られた知見は，多関節ロボットへの薄型柔軟素材の被覆方法確立の礎となる．
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