2013 Fiscal Year Final Research Report
Development of a humanoid robot with mega-torque actuators using magnetic harmonic gears
| Project/Area Number |
23360125
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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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 大阪大学, 工学(系)研究科(研究院), 教授 (00403139)
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| Co-Investigator(Kenkyū-buntansha) |
KAWASE Yoshihiro (20144735)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Keywords | 磁気ギアードアクチュエータ / 磁気ギア / ロボット / 有限要素法 / 電磁場解析 |
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| Research Abstract |
In this study, a new magnetic gear was proposed to realize high torque and high efficiency using the concept of our magnetic harmonic gear. The high end magnetic gear was developed through the numerical approach to optimize the magnetic structure parameter of the proposed model. Moreover, a remarkable mega torque actuator was developed by combining a magnetic gear with an actuator. In addition, design tool for mega-torque actuator was developed for large scale parallel computing employing FEM. The computation accuracy of this tool was verified through the comparison with the measurement on a prototype.
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[Patent(Industrial Property Rights)] 電動機2013
Inventor(s)
平田勝弘, 新口昇, 宮川敦士, 堺谷洋, 小柴敦誉, 千葉貞一郎, 吉田剛
Industrial Property Rights Holder
大阪大学,コマツ
Industrial Property Rights Type
特許
Industrial Property Number
特許出願2013-226079
Filing Date
2013-10-30
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[Patent(Industrial Property Rights)] 電動機2013
Inventor(s)
平田勝弘, 新口昇, 宮川敦士, 堺谷洋, 千葉貞一郎, 小柴敦誉
Industrial Property Rights Holder
特許
Industrial Property Rights Type
特許
Industrial Property Number
特許出願2013-226080
Filing Date
2013-10-30
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