| 研究課題/領域番号 |
17H07255
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| 研究機関 | 立命館大学 |
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研究代表者 |
Zhu Mingzhu 立命館大学, 立命館グローバル・イノベーション研究機構, 研究員 (50806180)
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| 研究期間 (年度) |
2017-08-25 – 2019-03-31
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| キーワード | Soft robotics / 3D Printing / Integrated sensor |
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| 研究実績の概要 |
Design and fabricate of the soft gripper with integrated sensors have been achieved as the first step of the research. Soft fingers were designed based on elastomer fluid actuators with integrated strain sensors. Finger body was made of Dragon skin and the strain sensors were made of carbon nanotubes composite. Finger deformation was controlled by regulation chamber pressure, and finger shape can be calculated through sensor's resistance change. Afterwards multi-material 3D printing technique was used to fabricate the soft-bodied finger to achieve similar actuator performance, small individual differences within an easy and fast fabrication process. Two conference papers were presented and published: 1. Design and Fabrication of a Soft-bodied Gripper with Integrated Curvature Sensors. (Best Paper Award of Mechatronics and Machine Vision in Practice 2018) 2. Design and Characterization of a Strain Sensor Array Based on Nanocomposite for a Soft Bodied Gripper.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The process is agree with the research plan submitted at the beginning of the academic year. First, the soft gripper was designed and fabricated. Actuator's structure of the soft gripper was designed according to the fluid elastomer and integrated sensors were made of carbon nanotubes composite. Second, the integrated sensors were calibrated in terms of its resistances changes responding to the applied strain. Third, a real-time visual tracking system was developed to follow finger's position by placing makers on the fingertip.
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| 今後の研究の推進方策 |
Experiments will be carried out to examine the ability of the proposed elastomer gripper with integrated multifunctional wireless sensors (EGIMWS) towards fulfillment of the research proposal. First, comparison and reconstruction of EGIMWS,.Experiments will be carried out to investigate the basic performance of the EGIMWS, such as finger shape detection and tip force detection. New actuator design can be easily implemented by 3D printer. Second, application of the developed EGIMWS for accurate manipulating of fragile and delicate objects. A range of objects will be manipulated by the EGIMWS to achieve accurate grasping and moving.
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