Grant-in-Aid for Scientific Research (A)
|Research Institution||Kobe University|
HATTORI Motofumi Faculty of Engineering Kobe University, Research Associate, 工学部, 助手 (00252792)
TADOKORO Satoshi Faculty of Engineering Kobe University, Associate Professor, 工学部, 助教授 (40171730)
YAMASAKI Yoshiharu Faculty of Engineering Kobe University, Teaching Staff, 工学部, 教務職員(教育職) (90174648)
OHTSUBO Yoshikazu Kinki University, Faculty of Science & Engineering, Research As-sociate, 理工学部, 助手 (90257973)
KIMURA Tetsuya Osaka Prefecture University, Faculty of Engineering, Research Asso-ciate, 工学部, 助手 (70273802)
TAKAMORI Toshi Faculty of Engineering Kobe University, Professor, 工学部, 教授 (10031098)
|Project Fiscal Year
1996 – 1998
Completed(Fiscal Year 1998)
|Budget Amount *help
¥7,200,000 (Direct Cost : ¥7,200,000)
Fiscal Year 1998 : ¥1,100,000 (Direct Cost : ¥1,100,000)
Fiscal Year 1997 : ¥2,600,000 (Direct Cost : ¥2,600,000)
Fiscal Year 1996 : ¥3,500,000 (Direct Cost : ¥3,500,000)
|Keywords||high polymer gel actuator / ICPF actuator / parallel mechanism / robot / mechatoronics / micromanipulation / redundant drive / soft manipulation / 高分子ゲルアクチュエータ / ICPFアクチュエータ / パラレルメカニズム / ロボット / メカトロニクス / マイクロマニピュレーション / 冗長駆動 / 柔軟マニピュレーション|
An ICPF actuator, a new highpolymer gel membrane actuator has advantages that large motion is generated by low voltage input in wet condition. Application to micromanipulation, in-vivo surgery, etc. are expected.
The objective of this research was development of micromotion mechanisms having parallel structures as application of ICPF actuators. The following results were attained.
1. Identification and modeling of viscoelastic and nonlinear properties of ICPF actuator
2. Improvement of the computer model of ICPF actuator to improve accuracy of motion prediction
3. Optimal design, fabrication and improvement of a mechanism with 3 degrees of freedom
4. Optimal design, fabrication and improvement of a mechanism with 6 degrees of freedom
5. Modeling and analysis of dynamic interference and transmission characteristics
6. Analysis and control of redundant mechanisms
7. Construction of a tele-micromanipulation system using stereoscopic image
8. Manipulability improvement by learning control
9. Experimental evaluation of micromanipulation
The result of evaluation was as follows.
The displacement was 2 mm, and the practical frequency range was up to 13 Hz. It followed well to high-speed motion commands, although stationary condition longer than 3 seconds were difficult. The developed device is appropriate for dynamic micromanipulation.
The translational and rotational displacements were as small as 0.4 mm and 2 degrees, respectively.
The practical frequency range was up to 3 Hz. Improvement of the ICPF material is necessary.