| Project/Area Number |
26350212
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Science education
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| Research Institution | Osaka Prefecture University College of Technology |
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Principal Investigator |
Kaneda Tadahiro 大阪府立大学工業高等専門学校, その他部局等, 教授 (80259895)
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| Co-Investigator(Kenkyū-buntansha) |
藪 厚生 大阪府立大学工業高等専門学校, その他部局等, 教授 (90413806)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | ロボット教材 / ロボットアーム / 組み合わせ / 工学教育 / 直動と回転 / エンドフェクタ / 平行グリッパ型 / 二つ爪型 / 三つ爪型 / 巻き付け型 / 組合せ可能 / 教材 |
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| Outline of Final Research Achievements |
It is very important to learn about the arm mechanism of industrial robots. In this study, the combinable robot arm is proposed as a teaching material. Using as servo motor, we developed the rotary unit and linear motion unit. 4 types of robot arms(cylindrical coordination, polar coordination, Cartesian coordination, and anthropomorphic)can be constructed by combining both units. The two units were fabricated using 3D printer as a core servo motor, it is connected by an embedded magnet. Control software was created in reference to the control of a small humanoid robot. As a result of the operation performance test limits and linear interpolation has been found to be operable in some errors are intended.
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