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Development of a wide range of motion miniature parallel robot equipped with a ultra small diameter and ultra long lead differential screw mechanism

Research Project

Project/Area Number 21K03987
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionKindai University

Principal Investigator

Harada Takashi  近畿大学, 理工学部, 教授 (80434851)

Project Period (FY) 2021-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2023: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2022: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2021: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Keywordsパラレルロボット / 機構設計 / 機構解析 / スクリュー理論 / マルチボディダイナミクス / 差動ネジ機構 / パラレルメカニズム / ミニチュアロボット / 動作範囲の拡大
Outline of Research at the Start

顕微鏡下手術や航空機エンジン内部の点検保守などの狭い環境内で動作する,極小サイズで動作範囲の広い空間6自由度(位置3自由度+姿勢3自由度)ミニチュアパラレルロボットの開発を目的とし,以下をその方法として具体的な研究目標を設定する.
(1) 研究のブレークスルーとして,軸径(D)1mm以下,リード6mm(進み角62度)以上,ネジ長さ(L)18mm以上の極小径・超長リード・大アスペクト比(L/D)差動ネジ機構を開発する.
(2) 上記差動ネジ機構を搭載し,並進動作範囲±5mm,旋回角度範囲±45度,回転角度範囲±180度を実現する親指サイズの広可動域6自由度ミニチュアパラレルロボットを開発する.

Outline of Final Research Achievements

This project aims to develop a spatial 6-DOF miniature parallel robot with an extremely small size and a wide operating range that can operate in confined environments such as surgery under a microscope and inspection and maintenance inside aircraft engines. A robot mechanism was devised in which all passive pairs are compact spherical joints, and the output nodes are directly tilted by the novel parallel mechanism for miniaturization. We designed and built a prototype of an ultra-small differential screw mechanism with a diameter of 2 mm, and conducted mechanism analysis, design and control of a parallel robot with an output node tilting mechanism, and submit a patent. Our research received the IEEE ROBIO2023 Robotica Best Paper Award and the Japan Society of Mechanical Engineers ROBOMECH Award.

Academic Significance and Societal Importance of the Research Achievements

本研究で開発したパラレルロボットの新しい機構は広く産業界にて活用できるように特許公開まで行なっている.本研究では,パラレルロボットの機構解析において国内では研究事例が少ないスクリュー理論やマルチボディダイナミクスを用いており,その学術的な成果が評価され,日本機械学会やIEEEにて権威ある賞を受賞している.これらの研究は基礎的かつ学術的な研究であり,今後の国内のロボットの機構設計,解析,制御の研究の発展に大いに寄与するものと考える.

Report

(4 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • Research Products

    (20 results)

All 2024 2023 2022 2021 Other

All Journal Article (6 results) (of which Peer Reviewed: 5 results,  Open Access: 1 results) Presentation (11 results) (of which Int'l Joint Research: 3 results,  Invited: 3 results) Remarks (2 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Development of a long lead miniature differential screw drive mechanism2024

    • Author(s)
      原田 孝;八瀬 快人
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 90 Issue: 931 Pages: 23-00302-23-00302

    • DOI

      10.1299/transjsme.23-00302

    • ISSN
      2187-9761
    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Mobility Analysis of a Novel Six-DOF Parallel Robot with Additional Rotation and Plate Tilting Mechanisms2023

    • Author(s)
      Harada Takashi, Yase Hayato
    • Journal Title

      Advances in Mechanism and Machine Science

      Volume: 1 Pages: 824-832

    • DOI

      10.1007/978-3-031-45705-0_80

    • ISBN
      9783031457043, 9783031457050
    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Family of Six-DOF Novel Two-platform Parallel Robots and Development of Re-configurable Prototypes2023

    • Author(s)
      Harada Takashi, Yase Hayato
    • Journal Title

      Proc. 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

      Volume: 1 Pages: 1-6

    • DOI

      10.1109/robio58561.2023.10354656

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Proposal of Drivable Rapid Prototyping System for Robot Mechanisms Verification2023

    • Author(s)
      Yase Hayato、Harada Takashi
    • Journal Title

      Proc. of 2023 IEEE/SICE International Symposium on System Integration (SII)

      Volume: - Pages: 589-593

    • DOI

      10.1109/sii55687.2023.10039437

    • Related Report
      2022 Research-status Report
    • Peer Reviewed
  • [Journal Article] Dynamical decoupled design of a two-dof planar differential belt driven robot using multibody system dynamics2022

    • Author(s)
      原田 孝
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 88 Issue: 916 Pages: 21-00367-21-00367

    • DOI

      10.1299/transjsme.21-00367

    • ISSN
      2187-9761
    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] How to Enlarge the Workspace of Parallel Wire Robot2021

    • Author(s)
      Harada Takashi
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 39 Issue: 9 Pages: 807-810

    • DOI

      10.7210/jrsj.39.807

    • NAID

      130008117374

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2021 Research-status Report
  • [Presentation] ロボット工学におけるマルチボディダイナミクスの応用2024

    • Author(s)
      原田 孝
    • Organizer
      日本機械学会 第38回マルチボディダイナミクス研究会
    • Related Report
      2023 Annual Research Report
    • Invited
  • [Presentation] スクリュー理論を用いた2プレート6自由度パラレルメカニズムのモビリティ解析2023

    • Author(s)
      原田 孝,八瀬 快人
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会2023
    • Related Report
      2023 Annual Research Report
  • [Presentation] プレート傾斜と付加回転機構を有する6自由度2プラットフォームパラレルロボットの変位解析2023

    • Author(s)
      原田 孝,八瀬 快人
    • Organizer
      日本機械学会2023年度年次大会
    • Related Report
      2023 Annual Research Report
  • [Presentation] Mobility Analysis of a Novel Six-DOF Parallel Robot with Additional Rotation and Plate Tilting Mechanisms2023

    • Author(s)
      Takashi Harada and Hayato Yase
    • Organizer
      The 16th IFToMM World Congress [WC2023]
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Family of Six-DOF Novel Two-platform Parallel Robots and Development of Re-configurable Prototypes2023

    • Author(s)
      Takashi Harada and Hayato Yase
    • Organizer
      IEEE International Conference on Robotics and Biomimetics (ROBIO)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of Gaudi-inspired Screw for Miniature Differential Drive Mechanism2023

    • Author(s)
      Takashi Harada
    • Organizer
      The 9th International Conference on Manufacturing, Machine Design and Tribology
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] 新しい 2 プラットフォーム 6 自由度パラレルロボットの提案2022

    • Author(s)
      原田 孝
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会2022
    • Related Report
      2022 Research-status Report
  • [Presentation] Simscape Multibodyを用いた 4 自由度差動ベルト・差動ネジ駆動パラレルロボットの動力学解析2022

    • Author(s)
      原田 孝, 古荘 純次
    • Organizer
      日本機械学会2022年度年次大会
    • Related Report
      2022 Research-status Report
  • [Presentation] 2リム6自由度パラレルロボットの機構と運動学特性2021

    • Author(s)
      原田 孝
    • Organizer
      日本機械学会2021年度年次大会
    • Related Report
      2021 Research-status Report
    • Invited
  • [Presentation] 極小径超長リード差動ネジ機構部品の製作方法2021

    • Author(s)
      原田 孝, 大窪 晃平
    • Organizer
      日本機械学会2021年度年次大会
    • Related Report
      2021 Research-status Report
  • [Presentation] 極小径超長リード差動ネジ機構用ナット部品の開発2021

    • Author(s)
      原田 孝, 大窪 晃平
    • Organizer
      日本機械学会第20回機素潤滑設計部門講演会
    • Related Report
      2021 Research-status Report
  • [Remarks] Kindai University, Harada Lab. (YouTube チャンネル)

    • URL

      https://www.youtube.com/channel/UCIynEM-T1I8xbXidsFyWcwA/videos

    • Related Report
      2023 Annual Research Report 2022 Research-status Report 2021 Research-status Report
  • [Remarks] 原田 孝 研究ページ

    • URL

      https://sites.google.com/view/parallelmech/home

    • Related Report
      2023 Annual Research Report 2022 Research-status Report 2021 Research-status Report
  • [Patent(Industrial Property Rights)] AMPパラレルロボット2022

    • Inventor(s)
      原田 孝
    • Industrial Property Rights Holder
      原田 孝
    • Industrial Property Rights Type
      特許
    • Filing Date
      2022
    • Related Report
      2022 Research-status Report

URL: 

Published: 2021-04-28   Modified: 2025-01-30  

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