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1987 Fiscal Year Final Research Report Summary

Evolution of Mast-type Statically Determinate Truss into Flexible Robot Arm

Research Project

Project/Area Number 60460082
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 材料力学
Research InstitutionOsaka University (1986-1987)
Kobe University (1985)

Principal Investigator

SEGUCHI Yasuyuki  Faculty of Engineering Science, Osaka University, 基礎工学所, 教授 (20031073)

Co-Investigator(Kenkyū-buntansha) TANAKA Masao  Faculty of Engineering Science, Osaka University, 基礎工学部, 助手 (40163571)
MORIMOTO Yoshiharu  Faculty of Engineering Science, Osaka University, 基礎工学部, 助教授 (20029573)
Project Period (FY) 1985 – 1987
KeywordsFuture System of Robot Arm / Mast Type Statically Determinate Truss / Flexible Robot Arm / High Degree of Freedom / Dynamics of Arm Motion / 静動力学 / 運動計画
Research Abstract

In order to develop a future system of robot arm, the evolution of a mast-type truss of statically determinate was studied to establish its kinematics, statics and dynamics as well as the motion planning and the design of a prototype. The concept is based on the idea the truss can be transformed to the flexible arm system of multi-degrees of freedom (DOF) if each component is designed to change its length.
If the length of components if properly controled, the system can be utilized as a robot arm having as many DOF as the number of variable components. The features of this idea are as follows:
The arm has, 1) the high DOF which result in much more flexible than the conventional arm, 2) the handling capacity for materials with heavy weight,
3) the extremely simple structure per DOF compared with the multi-link arm, and
4) the stowed and deployable capacity.
The research is mainly concentrated into, 1) the establishment of the fundamental theory concerning the kinematics, statics and dynamics of the system and the computer simulation of the response, 2) the planning and the optimization of the motion to make use appropriately of high DOF, and 3) the design of the prototype including special subsystems such the joint and the actuater. These basic studies will contribute to develop the new system of the next generation.

  • Research Products

    (10 results)

All Other

All Publications (10 results)

  • [Publications] Yasuyuke SEGUCHI: Proc. Japan-U. S. A. Symposiom on Flexible Automation. 251-259 (1986)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 瀬口靖幸: 日本機械学会論文集.

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuyuke SEGUCHI: Rroc. International Conference on Computational Engineering Science. 3-6 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuyuke SEGUCHI: Proc. U. S. A. -Japan Symposium on Flexible Automation. (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Masao TANAKA: Submitted for the 1988 World Conference on Robotics Research(SME). (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuyuki,Seguchi: "Evolution of Mast-type Truss to Robot Arm" Proc. Japan-U.S.A. Symposium on Flexible Automation. 251-259 (1986)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuyuki,Seguchi: "Motion and Vidration of a Statically Determinate Truss With High Degree of Freedom"

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuyuki,Seguchi: "Motion and Dynamics of Flexible Arm of a Mast-type Statically Determinate Truss" Proc. International Conference on Computational Engineering Science. 3-6 (1988)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuyuki,Seguchi: "On the Motion Planning of Truss-type Arm of High Degrees of Freedom" Proc. U.S.A-Japan Symposium on Flexidle Automation. (1988)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Masao,Tanaka: "Structural Kinematics and Incremental Sequence of Truss type Parallel Robotic Mechanism with Highly Multiple Dofs" Submitted for the 1988 Owrld Conference on Robotics Research(SME). (1988)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1989-03-30  

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