2020 Fiscal Year Final Research Report
Study on efficient compact parallel elastic actuators using plate spring and DD motor for periodic movement
| Project/Area Number |
19K14949
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2021-03-31
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| Keywords | 並列弾性アクチュエータ / 共振 / 板バネ / 周期運動 / 変分法 |
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| Outline of Final Research Achievements |
The energy efficiency of a snake-like robot with plate-springed parallel elastic actuators was verified by simulation and experiments. First, the stiffness of the plate spring was modeled using a discrete model called the Rigid Body Spring Model (RBSM) method and numerical calculations, and a dynamics of the snake-like robot was modeled. Based on these models, the stiffness of the plate spring and the movement speed of the robot to minimize the joint torque were clarified by simulation. Finally, a snake-like robot was developed and its motion efficiency was evaluated using a CoT (Cost of Transport). The maximum energy efficiency improvement of about 50% was achieved.
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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 |
周期運動を伴うロボットに弾性体を取り付けて運動を効率化する並列弾性アクチュエータはこれまでも数多く研究されてきたが，本体が複雑化，大型化する傾向にあった．一方，本研究で提案した板バネ式並列弾性アクチュエータは薄板金属である板バネを取り付けるだけなので構造がシンプルでほとんど大型化せずに済む．また，板バネは薄い長方形という単純な形状でありながら，板厚，長さ，幅，材料などを変更するだけで簡単に剛性を変化させられるため，低価格化や設計自由度の向上などにもつながる．本研究の成果により，ピックアンドプレイス，歩行，蛇行などの往復運動を行う小型のロボットや機械装置の高効率化が期待できる．
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