| Budget Amount *help |
¥3,600,000 (Direct Cost: ¥3,600,000)
Fiscal Year 2005: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2004: ¥2,100,000 (Direct Cost: ¥2,100,000)
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| Research Abstract |
In the design, robot's composition depend on the closed type MRI or open type MRI. Here, robot targets the closed type MRI because of the high-resolution of the image and the generally introduced in the hospital.
The research carried out control of ultrasonic motor (USM) which is used an actuator of the robot and composition of the robot. The actuator of the robot must be used the non-magnetic material and non-generate the electromagnetic noise. Here, the USM was used.
In the research of USM, the control circuit and the control technique were improved. By composing CPLD, the control circuit realized miniaturization and improvement in the reliability. Moreover, it became possible that the position control error was controlled within ±0.0036 (deg.) using the neural network technique. The precise positioning control can be realized, even if the arm is moved by the direct drive.
In the research of operation support robot, it is necessary that the robot is placed in the diameter of a gantry and would not affect the image of MRI. Operation of the robot used the technique which moved each arm is connected the link rod. Using this technique, it was possible to reduce the effect from USM and electric noise from the cable which supplies electric power to USM. The actuator was set over 75cm from the gantry. And the material mainly used the non-metal such as acrylic, reinforced plastics and ceramics. The experimental model is composed three-axial arm and one axis which the whole can rotate. Composing such structure, an arm can be set from a wide position.
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