2023 Fiscal Year Final Research Report
Development of a wide range of motion miniature parallel robot equipped with a ultra small diameter and ultra long lead differential screw mechanism
| Project/Area Number |
21K03987
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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) |
2021-04-01 – 2024-03-31
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| Keywords | パラレルロボット / 機構設計 / 機構解析 / スクリュー理論 / マルチボディダイナミクス |
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| Outline of Final Research Achievements |
This project aims to develop a spatial 6-DOF miniature parallel robot with an extremely small size and a wide operating range that can operate in confined environments such as surgery under a microscope and inspection and maintenance inside aircraft engines. A robot mechanism was devised in which all passive pairs are compact spherical joints, and the output nodes are directly tilted by the novel parallel mechanism for miniaturization. We designed and built a prototype of an ultra-small differential screw mechanism with a diameter of 2 mm, and conducted mechanism analysis, design and control of a parallel robot with an output node tilting mechanism, and submit a patent. Our research received the IEEE ROBIO2023 Robotica Best Paper Award and the Japan Society of Mechanical Engineers ROBOMECH Award.
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| Free Research Field |
機構学・機械力学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で開発したパラレルロボットの新しい機構は広く産業界にて活用できるように特許公開まで行なっている．本研究では，パラレルロボットの機構解析において国内では研究事例が少ないスクリュー理論やマルチボディダイナミクスを用いており，その学術的な成果が評価され，日本機械学会やIEEEにて権威ある賞を受賞している．これらの研究は基礎的かつ学術的な研究であり，今後の国内のロボットの機構設計，解析，制御の研究の発展に大いに寄与するものと考える．
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