Teleoperation using eye master-slave system with multi-degree-of-freedom actuator

2022 Fiscal Year Final Research Report

• Project/Area Number: 21K20404
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
• Research Institution: Nagoya University
• Principal Investigator: Heya Akira 名古屋大学, 工学研究科, 准教授 (80911297)
• Project Period (FY): 2021-08-30 – 2023-03-31
• Keywords: アクチュエータ / 多自由度アクチュエータ / モータ / 多自由度機構

Outline of Final Research Achievements

In this study, I focused on a multi-degree-of-freedom (multi-DOF) actuator that can rotate in various directions like the human eyeball, for application to vision systems. In order to reproduce the high-speed motion of the eyeball, the moment of inertia of the rotating part must be designed as small as possible. In addition, to construct a binocular driving mechanism, the structure and control device must be compact and configurable. Therefore, I proposed a magnetic structure and operating principle of a multi-DOF actuator that generates multi-DOF rotation with a simple structure and control device. The control theory and dynamic model are developed, and it is demonstrated that the actuator can be operated.

Free Research Field

アクチュエータ

Academic Significance and Societal Importance of the Research Achievements

多自由度アクチュエータは1台で様々な多自由度運動を生成できる利点を持つ一方，構造が複雑かつ制御装置が大型なため適用先は限定されていた。本研究において提案した多自由度アクチュエータは従来と比較して最も簡素な構造を有しており，制御装置も小型であることから，産業界等への多自由度アクチュエータの適用範囲を拡大するものである。また，多自由度アクチュエータの新たな設計論を提示したことに学術的意義があると考えれる。