著者

小俣 透

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.19, no.2, pp.217-224, 2001-03-15 (Released:2010-08-25)

参考文献数

11

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This paper analyzes the motion of a multi-limbed robot in contact with other objects or the ground at multiple points. A limb is defined as a serial link mechanism, such as an arm, a leg, a finger. The motion of the robot is restricted if the multiple contact points are held stationary. In general there are singular postures at which the motion of the robot has an additional degree of freedom. Contact at multiple points also causes the restriction on their sliding directions when they slide. This paper proves that when the robot is at the singular posture, the sliding directions are more restricted. We also show that the closer the robot approaches the singular posture, the more difficult the contact points slide in the directions infeasible at the singular posture. Sliding analysis is important not only for sliding control but also position and force controls of the limbs. We developed a quadruped robot which can take various postures, e.g. lying on the ground and standing on the knees. The motion of the quadruped robot is analyzed as an example of a multi-limbed robot in multi-point contact.

著者

多田隈 建二郎 多田隈 理一郎 勅使河原 誠一 溝口 善智 長谷川 浩章 寺田 一貴 高山 俊男 小俣 透 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."2A2-B02(1)"-"2A2-B02(2)", 2009-05-25

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This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed.

著者

高木 健 小俣 透

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.23, no.2, pp.238-244, 2005-03-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

6 7

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This paper presents a load-sensitive continuously variable transmission (CVT) for finger joints. Fingers of robot hands require force when grasping an object and speed when opening and closing. Therefore a CVT is ideal to improve the power transmission of a finger joint. Existing friction CVTs are too big and heavy to be installed in a finger joint. By focusing on the fact that finger joints do not necessarily rotate 360 degrees, this paper presents a remarkably simple and small load-sensitive CVT consisting of a five-bar linkage and a torsion coiled spring. Experimental results show that the CVT can increase its reduction ratio from 0.5 to 3.3 in response to a load. We have developed a two-finger gripper with the CVTs, which can grasp an object powerfully and manipulate quickly. These motions would be impossible without the CVT.

著者

野田 幸矢 高山 俊男 小俣 透

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.855, pp.17-00253-17-00253, 2017 (Released:2017-11-25)

参考文献数

12

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In minimally invasive surgery robots, force sensing is required to improve its manipulability. To perform delicate surgery, three-axis force sensing is desired. However, in general, the force resolution in the axial direction is worse than that in the radial direction owning to a slender shape of a forceps. This paper proposes a double diaphragm structure for forceps flexural elements. The distance between the two diaphragms can adjust the rigidity in the radial direction without changing the rigidity in the axial direction when the thickness of the diaphragm is constant. Thus, the thickness of the diaphragm adjusts the rigidity in the axial direction, while the distance between the two diaphragms adjusts the rigidity in the radial direction. A planar spiral cutting in the cross section of the diaphragm can reduce the maximum stress applied on it. Moreover, by adjusting the two spiral phases and direction, the crosstalk of the radial and axial forces can be reduced. In 5 mm forceps simulation, the rigidity of the axial direction is almost equal to that of the radial direction when the distance between the two diaphragms is 6.0 mm. We performed experiments of 10 mm forceps model and confirmed that the resolution of the radial direction is almost equal to that of the axial direction when the distance between the two diaphragms is 12.0 mm.