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人のような空間認識能力を持つ多自由度アクチュエータ駆動二眼カメラシステムの開発

Research Project

Project/Area Number 18J20150
Research Category

Grant-in-Aid for JSPS Fellows

Allocation TypeSingle-year Grants
Section国内
Research Field Power engineering/Power conversion/Electric machinery
Research InstitutionOsaka University

Principal Investigator

部矢 明  大阪大学, 工学研究科, 特別研究員(DC1)

Project Period (FY) 2018-04-25 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2020: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2019: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2018: ¥1,000,000 (Direct Cost: ¥1,000,000)
Keywords多自由度アクチュエータ / 電磁アクチュエータ
Outline of Annual Research Achievements

本研究ではこれまで,人の眼球のように小型で高い運動性能を持つ眼球アクチュエータを開発し,視覚インタフェースへの応用を検討してきた。眼球アクチュエータは電磁力により1台で3自由度回転動作を生成する多自由度電磁アクチュエータである。人の眼球と同等サイズであり,人以上の角加速度特性を有することを試作検証により明らかとした。また,汎用モータドライバを用いて駆動可能であり,簡素な制御装置で多自由度動作を生成できる。一般的な多自由度駆動機構では,複数のモータとリンクを組み合わせて多自由度動作を生成する必要があった。また,従来の多自由度アクチュエータは構造が複雑であり,大型な制御装置により駆動されるものであった。そこで申請者は3つの電磁アクチュエータの磁気回路を集積回路のように小球体積内に集積化した3次元の新しい磁気回路を提案した。これにより,制御装置の圧倒的な簡素化を実現するとともに,高い運動性能を達成した。
本年度においては,眼球アクチュエータを狭小な人型ロボット頭部に集約させるためには,さらなる構成部品数の削減とドライバの簡素化が必要となることに着目し,新しい眼球アクチュエータの構造を提案した。従来構造では,1自由度につき1個のHブリッジ回路を用いて,合計3個のHブリッジ回路により3自由度運動を生成していた。これは3軸まわりのトルクを1相で制御する原理を採用していたためである。新構造においては,コイル通電時に発生する力ベクトルの合成により3自由度運動を生成する新原理を提案した。これにより4相ハーフブリッジ回路による3自由度運動の生成が可能となり,スイッチング素子の数を3分の2に削減した。また,半分のコイル・永久磁石数での構成を可能とした。提案アクチュエータは3自由度アクチュエータとして最小構成であり,ロボット眼球のみならず産業用途をはじめとして様々な分野での応用が期待できる。

Research Progress Status

令和2年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

令和2年度が最終年度であるため、記入しない。

Report

(3 results)
  • 2020 Annual Research Report
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (47 results)

All 2021 2020 2019 2018

All Journal Article (16 results) (of which Peer Reviewed: 16 results,  Open Access: 3 results) Presentation (30 results) (of which Int'l Joint Research: 17 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] ボイスコイル型多自由度アクチュエータの基礎検討2021

    • Author(s)
      部矢明,平田勝弘
    • Journal Title

      日本AEM学会誌

      Volume: 29,2

    • NAID

      130008082866

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 短ストローク6自由度アクチュエータの実験評価2021

    • Author(s)
      元辻友彰,部矢明,平田勝弘
    • Journal Title

      日本AEM学会誌

      Volume: 29, 2

    • NAID

      130008082831

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 支持機構の内包による力覚提示デバイス用3自由度振動アクチュエータの基礎検討2021

    • Author(s)
      中村亮介,部矢明,平田勝弘
    • Journal Title

      日本AEM学会誌

      Volume: 29, 2

    • NAID

      130008082862

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Sensorless Attitude Estimation of Three-Degree-of-Freedom Actuator for Image Stabilization2021

    • Author(s)
      Akira Heya, Katsuhiro Hirata
    • Journal Title

      International Journal of Applied Electromagnetics and Mechanics

      Volume: 66, 2 Issue: 2 Pages: 249-263

    • DOI

      10.3233/jae-201537

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Structural Simplicity and Performance Comparison of Magnetic Lead Screws without Spiral Permanent Magnets2021

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata
    • Journal Title

      IEEJ Transactions on Electrical and Electronics Engineering

      Volume: 16, 3 Issue: 3 Pages: 464-469

    • DOI

      10.1002/tee.23317

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 3軸一体能動制御磁気軸受における非線形補償器特性による位置制御性評価2021

    • Author(s)
      西出圭吾, 部矢明 ,平田勝弘
    • Journal Title

      日本AEM学会誌

      Volume: 29, 1 Pages: 124-129

    • NAID

      130008037220

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 横磁束構造を用いたダブルギャップ型Zθアクチュエータの研究2021

    • Author(s)
      森田真仁, 部矢明 ,高原一晶,平田勝弘
    • Journal Title

      日本AEM学会誌

      Volume: 29, 1

    • NAID

      130008082807

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Amplitude Control for Linear Resonance Actuator Using Sensorless Load Estimation Method2020

    • Author(s)
      元辻友彰,加藤雅之, 部矢明 ,平田勝弘
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 140 Issue: 7 Pages: 534-541

    • DOI

      10.1541/ieejias.140.534

    • NAID

      130007867900

    • ISSN
      0913-6339, 1348-8163
    • Year and Date
      2020-07-01
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Interference suppression of triaxial active control magnetic bearing using nonlinear compensator2020

    • Author(s)
      西出圭吾, 部矢明 ,平田勝弘
    • Journal Title

      Journal of the Japan Society of Applied Electromagnetics and Mechanics

      Volume: 28 Issue: 3 Pages: 219-224

    • DOI

      10.14243/jsaem.28.219

    • NAID

      130007981062

    • ISSN
      0919-4452, 2187-9257
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Edge Effect of Multi-degree-of-freedom Oscillatory Actuator Driven by Vector Control2020

    • Author(s)
      Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, and Akira Heya
    • Journal Title

      Open Physics

      Volume: 18 Issue: 1 Pages: 346-351

    • DOI

      10.1515/phys-2020-0169

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator2020

    • Author(s)
      Heya Akira、Hirata Katsuhiro、Matsushita Takahiro、Kono Yoshinori
    • Journal Title

      IEEE Transactions on Magnetics

      Volume: 52, 2 Issue: 2 Pages: 1-4

    • DOI

      10.1109/tmag.2019.2952473

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Linear Vernier actuator with two movers2020

    • Author(s)
      Heya Akira、Hirata Katsuhiro、Niguchi Noboru
    • Journal Title

      Transportation Systems and Technology

      Volume: 6 Issue: 1 Pages: 63-79

    • DOI

      10.17816/transsyst20206163-79

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization2020

    • Author(s)
      Heya Akira、Hirata Katsuhiro
    • Journal Title

      Sensors

      Volume: 20 Issue: 9 Pages: 2485-2485

    • DOI

      10.3390/s20092485

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization2018

    • Author(s)
      Heya Akira、Hirata Katsuhiro、Niguchi Noboru
    • Journal Title

      IEEE Transactions on Magnetics

      Volume: 54 Issue: 11 Pages: 1-5

    • DOI

      10.1109/tmag.2018.2845438

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator2018

    • Author(s)
      Heya Akira、Nakata Yoshihiro、Sakai Masahiko、Ishiguro Hiroshi、Hirata Katsuhiro
    • Journal Title

      IEEE Transactions on Magnetics

      Volume: 54 Issue: 11 Pages: 1-5

    • DOI

      10.1109/tmag.2018.2845455

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Dynamic Modeling of Three-Degree-of-Freedom Actuator for Image Stabilization2018

    • Author(s)
      HEYA Akira、HIRATA Katsuhiro、NIGUCHI Noboru、YOSHIMOTO Takamichi、OTA Tomohiro
    • Journal Title

      Journal of the Japan Society of Applied Electromagnetics and Mechanics

      Volume: 26 Issue: 2 Pages: 280-285

    • DOI

      10.14243/jsaem.26.280

    • NAID

      130007438789

    • ISSN
      0919-4452, 2187-9257
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Presentation] Proposal of Novel Multiple-Degree-of-Freedom Voice Coil Actuator2021

    • Author(s)
      Akira Heya and Katsuhiro Hirata
    • Organizer
      2021 IEEE International Magnetics Conference
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Integrated with Support Mechanism2021

    • Author(s)
      Ryosuke Nakamura, Akira Heya, and Katsuhiro Hirata
    • Organizer
      2021 IEEE International Magnetics Conference
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ボイスコイル型多自由度アクチュエータの基礎検討2020

    • Author(s)
      部矢明,平田勝弘
    • Organizer
      第29回MAGDAコンファレンス
    • Related Report
      2020 Annual Research Report
  • [Presentation] 短ストローク6自由度アクチュエータの実験評価2020

    • Author(s)
      元辻友彰,部矢明,平田勝弘
    • Organizer
      第29回MAGDAコンファレンス
    • Related Report
      2020 Annual Research Report
  • [Presentation] 支持機構の内包による力覚提示デバイス用3自由度振動アクチュエータの小型化検討2020

    • Author(s)
      中村亮介,部矢明,平田勝弘
    • Organizer
      第29回MAGDAコンファレンス
    • Related Report
      2020 Annual Research Report
  • [Presentation] Two-Degree-of-Freedom Actuator for Robotic Eyes2020

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      2020 International Conference on Electrical Machines
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Proposal of a Six-Degree-of-Freedom Actuator using Lorentz Force2020

    • Author(s)
      Akira Heya, Katsuhiro Hirata
    • Organizer
      2020 IEEE International Magnetics Conference
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 5自由度振動アクチュエータの提案2020

    • Author(s)
      部矢明,平田勝弘
    • Organizer
      電気学会 交通・電気鉄道 リニアドライブ合同研究会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 横磁束構造を用いたダブルギャップ型Zθアクチュエータの研究2020

    • Author(s)
      森田真仁,部矢明,高原一晶,新口昇,平田勝弘
    • Organizer
      令和2年電気学会全国大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 横磁束構造を用いたダブルギャップ型Zθアクチュエータの研究2020

    • Author(s)
      森田真仁,部矢明,高原一晶,新口昇,平田勝弘
    • Organizer
      第32回「電磁力関連のダイナミクス」シンポジウム
    • Related Report
      2019 Annual Research Report
  • [Presentation] 3軸一体能動制御磁気軸受における非線形補償器特性による位置制御性の比較2020

    • Author(s)
      西出圭吾,部矢明,平田勝弘
    • Organizer
      令和2年電気学会全国大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 3軸一体能動制御磁気軸受における非線形補償器特性による位置制御性評価2020

    • Author(s)
      西出圭吾,部矢明,平田勝弘
    • Organizer
      第32回「電磁力関連のダイナミクス」シンポジウム
    • Related Report
      2019 Annual Research Report
  • [Presentation] ローレンツ力を用いた6自由度振動アクチュエータの提案2020

    • Author(s)
      部矢明,平田勝弘
    • Organizer
      第32回「電磁力関連のダイナミクス」シンポジウム
    • Related Report
      2019 Annual Research Report
  • [Presentation] Analysis of a Motor Integrated Magnetically Levitated Lead Screw2019

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      18th Biennial IEEE Conference on Electromagnetic Field Computation
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Magnetically Levitated Lead Screw for Complete Non-Contact Power Transmission2019

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      45th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image stabilization2019

    • Author(s)
      Akira Heya, Katsuhiro Hirata
    • Organizer
      19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Edge Effect of Multi-degree-of-freedom Oscillatory Actuator Driven by Vector Control2019

    • Author(s)
      Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, Akira Heya
    • Organizer
      19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of Triaxial Active Control Magnetic Bearing with Asymmetric Structure2019

    • Author(s)
      Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima
    • Organizer
      22th International Conference on Electrical Machines and Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Experimental Verification of a Consequent-Pole Magnetic Lead Screw2019

    • Author(s)
      Abe Tetsuya, Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro
    • Organizer
      22th International Conference on Electrical Machines and Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Analysis of a Six-Degree-of-Freedom Oscillatory Actuator2019

    • Author(s)
      Tomoaki Mototsuji, Akira Heya, Katsuhiro Hirata
    • Organizer
      22th International Conference on Electrical Machines and Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator2019

    • Author(s)
      Akira Heya, Katsuhiro Hirata, Takahiro Matsushita, Yoshinori Kono
    • Organizer
      22nd International Conference on the Computation of Electromagnetic Fields
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Magnetic Lead Screw with Variable Stiffness Mechanism2019

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro
    • Organizer
      12th International Symposium on Linear Drives for Industry Applications
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 磁気浮上ねじの提案2019

    • Author(s)
      部矢明,仲田佳弘,石黒浩,平田勝弘
    • Organizer
      電気学会 回転機・リニアドライブ・家電・民生合同研究会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 3軸一体能動制御磁気軸受における非線形補償器を用いた干渉抑制2019

    • Author(s)
      西出圭吾,部矢明,平田勝弘
    • Organizer
      第28回MAGDAコンファレンスin 大分
    • Related Report
      2019 Annual Research Report
  • [Presentation] 3自由度振動アクチュエータの提案2019

    • Author(s)
      部矢明,平田勝弘,松下峻大,河野吉紀
    • Organizer
      電気学会 回転機・リニアドライブ・家電・民生合同研究会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization2018

    • Author(s)
      Akira Heya, Katsuhiro Hirata, Noboru Niguchi
    • Organizer
      IEEE International Magnetics Conference
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator2018

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      IEEE International Magnetics Conference
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Linear Vernier Actuator with Two Movers2018

    • Author(s)
      Akira Heya, Katsuhiro Hirata, Noboru Niguchi
    • Organizer
      MAGLEV 2018 Conference
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of a Consequent-Pole Magnetic Lead Screw2018

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      18th Biennial IEEE Conference on Electromagnetic Field Computation
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 部分空間法を用いた振れ補正用3自由度電磁アクチュエータのシステム固定2018

    • Author(s)
      部矢明,平田勝弘
    • Organizer
      電気学会 回転機・リニアドライブ・家電・民生合同研究会
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 磁気式動力伝達構造体2018

    • Inventor(s)
      仲田佳弘,石黒浩,平田勝弘,酒井昌彦,部矢明,阿部哲也
    • Industrial Property Rights Holder
      仲田佳弘,石黒浩,平田勝弘,酒井昌彦,部矢明,阿部哲也
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-202245
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report

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Published: 2018-05-01   Modified: 2024-03-26  

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