| 研究課題/領域番号 |
24K00847
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| 研究種目 |
基盤研究(B)
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| 配分区分 | 基金 |
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| 応募区分 | 一般 |
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| 審査区分 |
小区分20020:ロボティクスおよび知能機械システム関連
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| 研究機関 | 北陸先端科学技術大学院大学 |
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研究代表者 |
Ho Anhvan 北陸先端科学技術大学院大学, 先端科学技術研究科, 教授 (60757508)
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| 研究分担者 |
NGUYEN HuuNhan 北陸先端科学技術大学院大学, 先端科学技術研究科, 助教 (80981159)
平井 慎一 立命館大学, 理工学部, 教授 (90212167)
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| 研究期間 (年度) |
2024-04-01 – 2027-03-31
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| 研究課題ステータス |
交付 (2024年度)
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| 配分額 *注記 |
18,590千円 (直接経費: 14,300千円、間接経費: 4,290千円)
2026年度: 5,200千円 (直接経費: 4,000千円、間接経費: 1,200千円)
2025年度: 5,200千円 (直接経費: 4,000千円、間接経費: 1,200千円)
2024年度: 8,190千円 (直接経費: 6,300千円、間接経費: 1,890千円)
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| キーワード | Soft robotics / Rotational Actuation / FEM / ROBIN / Rotational Buckling / Gripper / Simulation / Optimizaiton |
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| 研究開始時の研究の概要 |
In this proposal, our aim is to tackle ROBIN (ROtation-based Buckling Instability aNalysis) of volumetric body covered with continuous soft, flexible skin under simple rotations, and apply to soft robotics field. We will clarify the correlation between the buckling states of soft skin with respect to rotating actions, considering nonlinear deformation, self- contact issue, and external interaction stimuli, and an optimization pipeline of ROBIN-based structure. Finally, we implement ROBIN design philosophy to actual soft, flexible robotic mechanisms, such as robotic gripper, pulsation pump.
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| 研究実績の概要 |
We successfully developed a dynamic simulation using the Finite Element Method (FEM) to investigate the role of buckling instability in the formation of the ROBIN function. Building on these simulations, we conducted an in-depth study of the morphological factors affecting the performance of the ROBIN actuator and applied these insights to design a ROBIN-based gripper capable of efficiently grasping objects. We also carried out a preliminary examination of the gripper’s sensing capabilities using external force/torque sensors. Lastly, we demonstrated the potential of ROBIN-based applications in robotics by proposing several novel robotic system designs.
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| 現在までの達成度 |
現在までの達成度
1: 当初の計画以上に進展している
理由
All planned research activities for FY2024 proceeded with notable progress. Additionally, we initiated the concept of a ROBIN-based pump capable of emulating the pressurization function of the human heart. We also evaluated various fabrication processes, including injection molding and 3D printing, to determine the most effective method for producing the ROBIN-based gripper.
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| 今後の研究の推進方策 |
In the FY2026, we aim to tackle the fowling issues: 1) Proposal of optimization process for ROBIN actuator based on study on the morphological role of rotational buckling phenomenon. 2) Proposal of efficient sensing method for ROBIN actuator that can assess the buckling states and the interaction with the surrounding environment. 3) Extensive elaboration of the showcases where the ROBIN actuator can be applied, such as fruit harvesting, food manipulation.
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