2013 Fiscal Year Final Research Report
Design and Development of Human Cooperative Robot System Using Gravity Compensation Mechanism
| Project/Area Number |
23560295
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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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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Metropolitan University |
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Principal Investigator |
TAKESUE Naoyuki 首都大学東京, システムデザイン研究科, 准教授 (70324803)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 機構 / 省エネルギー / パワーアシスト / 制御 |
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| Research Abstract |
The aim of this study is realization of human-cooperative robust robotic systems with high capability of pay loads and low energy requirements. The characteristics and design method of variable gravity compensation mechanisms, which is an important element of the system, was investigated. The use of the variable gravity compensation mechanisms realized that the motors in the system are lowered. In this study, power-assist lifters and a 3-DOF robot arm were developed, which had high capability of pay loads and low energy requirements.
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