著者

遠藤 玄 山田 浩也 矢島 明 尾形 勝 広瀬 茂男

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.1, pp.77-84, 2010 (Released:2012-01-25)

参考文献数

10

被引用文献数

9 8

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We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel four-bar linkage system, analyzing the required torques with transposed Jacobian matrices. Finally, we develop a 3 D.O.F manipulator with relatively small output actuators and verify that the weight compensation mechanism greatly contributes to decrease static torques to keep the same posture within manipulator's work space.

著者

広瀬 茂男 山田 浩也

出版者

東京工業大学

雑誌

基盤研究(A)

巻号頁・発行日

2010

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本研究では,(1)ヘビ型ロボットの学術的理論体系の構築,(2)革新的な機構の導入,(3)実用的な狭所点検用ロボットの開発,の3つの目的を持ってヘビ型ロボットの研究を行った.その成果として,連続曲線に基づいた実用的なヘビの運動制御法を確立し,革新的な機構によって3次元的な狭所に適応して活動できる実用的なヘビ型ロボットの開発に成功した.

著者

上田 紘司 山田 浩也 石田 悠朗 広瀬 茂男

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.2013, pp."2A2-K03(1)"-"2A2-K03(3)", 2013-05-22

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For robot arms, wrist mechanisms are important elements for handling ability. We have proposed a heavy-duty wrist mechanism with a large motion range named, "2-DOF Spherical Parallel (2DSP) mechanism." The 2DSP mechanism is driven by a 2-DOF spherical parallel mechanism and supported by a universal joint located at its center. In this paper, we propose a method to maximize workspace in avoidance of singularities or too small output torque. The test model was developed, and the feasibility of the proposed method was verified.

著者

洗 津 山田 浩也 遠藤 玄 デベネスト パウロ グアラニエリ ミケーレ 風間 裕人 長友 一郎 広瀬 茂男

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.2013, pp."1A2-P20(1)"-"1A2-P20(2)", 2013-05-22

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For the decommissioning of the Fukushima Daiichi nuclear power plant, we need robot arms which have long and slender shape, wide motion range, and radiation-tolerant system. However, existing robot arms are not capable of satisfying those requirements. In particular, the extremely large torque generated by the arm weight is the most difficult problem in the development of such long and slender arms. Therefore, in order to satisfy those requirements, we propose a new robot arm named "3D CT-Arm". The 3D CT-Arm uses a "coupled tendon drive", in which the all joints are driven by motors located on the base through wires and pulleys, and the all motors support the torque on the base joint. Thus, the 3D CT-Arm can maintain its posture even when it extends the arm horizontally. In this paper, we introduce the concept of 3D CT-Arm and show the design and test of a prototype.

著者

山田 浩也 広瀬 茂男

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.2007, pp."2A1-J07(1)"-"2A1-J07(4)", 2007-05-11

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In this paper, we discuss about locomotion of snake-like robots on uneven terrain. In recent research some snake-like robots have been developed which have ability to advance on uneven terrain, but the control has not been established. In this paper we propose a control method using a touch sensor located on the head of robots, and verify the effectiveness of propose method by experiments. We think the result of this paper will contribute to the study to put snake-like robots to practical use.