Creation of the power transmission system with a hyper adaptability by applying omnidirectional driving gears

• Project/Area Number: 24686030
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Yamagata University
• Principal Investigator: Tadakuma Riichiro 山形大学, 理工学研究科, 准教授 (50520813)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥26,520,000 (Direct Cost: ¥20,400,000、Indirect Cost: ¥6,120,000); Fiscal Year 2014: ¥7,540,000 (Direct Cost: ¥5,800,000、Indirect Cost: ¥1,740,000); Fiscal Year 2013: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000); Fiscal Year 2012: ¥10,010,000 (Direct Cost: ¥7,700,000、Indirect Cost: ¥2,310,000)
• Keywords: 全方向駆動歯車 / 軽量アクチュエータ / 複合自由度アクチュエータ / 知能ロボティックス / 知能機械 / 機械要素

Outline of Final Research Achievements

The purpose of this research is to develop a small and light power transmission mechanism that can be used to assist people for various tasks like transporting luggage and movement of elderly people by applying omnidirectional driving gears with arbitrary curvatures. The omnidirectional driving gear has two gear columns that are perpendicular to each other.
“J-type” omnidirectional driving gear with zero and positive curvature that activates the side mirror inside of a door mirror of an automobile and the robotic omnidirectional transporting table with planar omnidirectional driving gear were developed. The robotic omnidirectional transporting table has two types by deploying the planar omnidirectional driving gears in different ways with their teeth aiming upward and downward.
These prototypes were exhibited and demonstrated in large expositions successfully.

Research Products

• [Journal Article] Worm wheel mechanism with passive rollers (2014)
  • Author(s): Kenjiro Tadakuma, Riichiro Tadakuma, Shotaro Onishi & Yuichi Tsumaki
  • Journal Title: Advanced Robotics Volume: 28 Issue: 24 Pages: 1617-1635
  • DOI: 10.1080/01691864.2014.967294
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] ロボットの機能の中核をなす機巧 (2014)
  • Author(s): 多田隈 理一郎
  • Journal Title: 日本ロボット学会誌 Volume: Vol.32 No.4 Pages: 358-362
• [Journal Article] Study of the Omnidirectional Driving Gear Mechanism (2012)
  • Author(s): 多田隈 建二郎, 多田隈 理一郎, 井岡 恭平, 妻木 勇一
  • Journal Title: Journal of the Robotics Society of Japan Volume: 30 Issue: 6 Pages: 611-620
  • DOI: 10.7210/jrsj.30.611
  • NAID: 10030783356
  • ISSN: 0289-1824, 1884-7145
  • Peer Reviewed
• [Presentation] 平面型全方向駆動歯車に基づく全方向物体搬送テーブルの研究 (2015)
  • Author(s): 大石 高輝，熊谷 充彦，阿部 一樹，奥山 貴晶，中野 芳樹，多田隈 建二郎，多田隈 理一郎
  • Organizer: 計測自動制御学会 東北支部 第297回研究集会
  • Place of Presentation: 山形大学工学部
  • Year and Date: 2015-10-23
• [Presentation] 積層造形に基づく受動ローラ型ウォームホイールの研究 (2015)
  • Author(s): 星野 翼，多田隈 建二郎，多田隈 理一郎
  • Organizer: 計測自動制御学会 東北支部 第297回研究集会
  • Place of Presentation: 山形大学工学部
  • Year and Date: 2015-10-23
• [Presentation] 小型全方向駆動歯車の研究 (2015)
  • Author(s): 松本 直，加藤 寛昭，福島 悠也，高橋 健太，瀬口 昌俊，多田隈 建二郎，多田隈 理一郎
  • Organizer: 計測自動制御学会 東北支部 第297回研究集会
  • Place of Presentation: 山形大学工学部
  • Year and Date: 2015-10-23
• [Presentation] 超膨張バブル式グリッパ機構 －多種多形状デブリ群の飛散防止を可能とする柔軟包込み把持メカニズム－ (2014)
  • Author(s): 多田隈建二郎，多田隈理一郎，西田健，Jose Berengueres
  • Organizer: 第15回計測自動制御学会システムインテグレーション部門講演会(SI2014)
  • Place of Presentation: 東京ビッグサイト
  • Year and Date: 2014-12-17
• [Presentation] 全方向物体搬送テーブルと共に物理的に人間を補助するための軽量ワイヤ駆動ロボットアームの研究 (2014)
  • Author(s): モヤ エリック，多田隈理一郎，多田隈建二郎
  • Organizer: 日本機械学会東北支部第50期秋季講演会
  • Place of Presentation: 東北学院大学工学部
  • Year and Date: 2014-09-05
• [Presentation] 全方向駆動歯車による物体搬送テーブルの研究 (2014)
  • Author(s): 松井岳，多田隈理一郎，多田隈建二郎
  • Organizer: 日本機械学会東北支部第50期秋季講演会
  • Place of Presentation: 東北学院大学工学部
  • Year and Date: 2014-09-05
• [Presentation] 全方向駆動歯車を利用した力覚提示装置の開発 (2014)
  • Author(s): 小村謙一，多田隈理一郎，多田隈建二郎
  • Organizer: 日本機械学会東北支部第50期秋季講演会
  • Place of Presentation: 東北学院大学工学部
  • Year and Date: 2014-09-05
• [Presentation] Torus Omnidirectional Driving Unit Mechanism Realized by Curved Crawler Belts (2014)
  • Author(s): Kenjiro Tadakuma, Hirohiko Ogata, Riichiro Tadakuma and Jose Berengueres
  • Organizer: 2014 IEEE International Conference on Robotics and Automation (ICRA2014)
  • Place of Presentation: Hong Kong Convention and Exhibition Center, Hong Kong （中国）
  • Year and Date: 2014-06-03
  • Int'l Joint Research
• [Presentation] 受動ローラ式歯車を用いたウォームギア機構の研究 (2013)
  • Author(s): 大西 祥太郎、多田隈 理一郎、多田隈 建二郎、高木 稔、妻木 勇一
  • Organizer: 日本機械学会
  • Place of Presentation: 岩手大学工学部、岩手、日本
• [Presentation] Adaptations of Omnidirectional Driving Gears to Practical Purposes (2013)
  • Author(s): Tadakuma, Kenjiro, Tadakuma, Riichiro, Takagi, Minoru, Ioka, Kyohei, Matsui, Gaku, Komura, Kenichi, Moya, Erick, Akaike, Takahiro, Tsumaki, Yuichi
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo Big Sight, Tokyo, Japan
• [Presentation] The Gear Mechanism with Passive Rollers: The Input Mechanism to Drive the Omnidirectional Gear and Worm Gearing (2013)
  • Author(s): R. Tadakuma, K. Tadakuma, M. Takagi, S. Onishi, G. Matsui, K. Ioka, Y. Tsumaki, M. Higashimori and M. Kaneko
  • Organizer: 2013 IEEE International Conference on Robotics and Automation (ICRA2013)
  • Place of Presentation: Karlsruhe, Germany
• [Presentation] Study on the omnidirectional driving gear mechanism (2012)
  • Author(s): Tadakuma, K., Tadakuma, R., Ioka, K, Kudo, T., Takagi, M., Tsumaki, Y., Higashimori, M., Kaneko, M.
  • Organizer: 2012 IEEE International Conference on Robotics and Automation (ICRA2012)
  • Place of Presentation: Saint Paul, MN, The United States of America
• [Presentation] Omnidirectional driving gears and their input mechanism with passive rollers (2012)
  • Author(s): Tadakuma, K., Tadakuma, R., Ioka, K., Kudo, T., Takagi, M., Tsumaki, Y., Higashimori, M., Kaneko, M.
  • Organizer: 2012 IEEE/RSJ International Conference on Intell igent Robots and Systems (IROS2012)
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Additional manipulating function for limited narrow space with omnidirectional driving gear (2012)
  • Author(s): Tadakuma, K, Tadakuma, R., Ioka, K., Kudo, T., Takagi, M., Tsumaki, Y., Higashimori, M., Kaneko, M.
  • Organizer: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2Q12)
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Remarks] NECエンベデッドプロダクツ株式会社ウェブサイト
  • URL: http://www.necep.co.jp/company/randd/mdd.html
• [Remarks]
  • URL: http://tadakuma.yz.yamagata-u.ac.jp/index.html