2010 Fiscal Year Final Research Report
Development of a high performance multi-degree of freedom actuator applied to a robot
| Project/Area Number |
20560269
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Osaka University |
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Principal Investigator |
HIRATA Katsuhiro Osaka University, 工学研究科, 教授 (00403139)
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| Co-Investigator(Kenkyū-buntansha) |
KAWASE Yoshihiro 岐阜大学, 工学部, 教授 (20144735)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 多自由度アクチュエータ / 電磁アクチュエータ / ロボットアーム / 関節アクチュエータ / 電磁場解析 / 動作解析 / 有限要素法 |
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| Research Abstract |
In this study, a new small-sized 3-DOF joint actuator with high torque and wide-angle and a feedback control method using two image sensors were developed. I secured enough performance for the deployment to a humanoid robot arm and found high positioning precision by the combination with zero point sensing method using the Hall element. Furthermore, I developed the advanced dynamic analysis method for the actuator employing the three-dimensional finite element method and found that it was effective in optimal design through the comparison with the measurement on a prototype.
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