2012 Fiscal Year Final Research Report
Research of Impact Manipulation
| Project/Area Number |
21560257
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | University of Tsukuba |
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Principal Investigator |
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| Project Period (FY) |
2009 – 2012
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| Keywords | マニピュレーション / 衝突 / 撃力 |
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| Research Abstract |
Usage of impact for robot manipulation brings some merits; instant very large impact force can be generated, faster speed of object by hitting by robot arm, etc. But, since the mechanism itself has also the impact force, the mechanism or its actuator will be damaged. In this research we introduce clutches into each joint to isolate the actuators from impact force. Sweet spot method and under-actuated manipulator are introduced to reduce number of clutches.
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