著者

北澤 勇気 坂間 清子 菅原 佳城

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.89, no.927, pp.23-00114, 2023 (Released:2023-11-25)

参考文献数

15

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In recent years, there has been active development of robots that play a role in people's lives. These robots require actuators that have high responsiveness and high output force in addition to being small. Furthermore, safety and contact affinity are also required for these actuators. An actuator that can balance high responsiveness, high output, and contact affinity is developed in this study. The proposed system is a hybrid system of hydraulic and pneumatic systems. Hydraulic systems are generally used in machines that require large forces, such as construction machinery, because they have high responsiveness and high output force. However, hydraulic systems have poor contact affinity. On the other hand, pneumatic systems are used in machines that come into contact with people, such as power assist suits and massage chairs, because they have high contact affinity, although their output is inferior to that of hydraulic systems. Generally, the mixing of air bubbles into hydraulic oil is a problem. However, as the pressure increases, the rigidity of the working hydraulic oil mixed with bubbles approaches that of pure working hydraulic oil. If this characteristic is appropriately modeled and controlled, bubbles mixed into the working hydraulic oil can create a cushioning effect. Firstly, the relationship between the pressure and rigidity of hydraulic oil mixed with bubbles is demonstrated in this paper. Secondly, the mechanism of the hybrid system and the prototype model are explained. Lastly, the results of performance evaluation through analysis and experiments are presented. From these results, this paper shows that the proposed system has the potential to balance high responsiveness, high output, and contact affinity.

著者

櫛田 果鈴 齋藤 優里 菅原 佳城 坂間 清子 春山 純一

出版者

一般社団法人 日本機械学会

雑誌

Dynamics & Design Conference

巻号頁・発行日

vol.2018, 2018

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<p>This paper describes behavior of the jump robot which is connected by tether. The internal environment of the hole existing on the moon is not clear and is expected to be investigated. For research of the unknown environment, exploration is planned using a rover with umbilical tether connecting a mother rover near the hole. Then, it is important to study how tether influences jumping behavior of the rover. Equation of motion and differential algebraic equation is formulated by the use of Absolute Nodal Coordinate Formulation (ANCF) and multibody dynamics. Rover is regarded as two bodies with slider joint. Telescopic motion of spring expresses effect of jump. Numerical analysis reveals the relation of jumping behavior and parameters, and is compared with experimental result.</p>

著者

小林 信之 菅原 佳城 鳥阪 綾子

出版者

青山学院大学

雑誌

基盤研究(C)

巻号頁・発行日

2011

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本研究は,大変形と大回転を伴う極めて非線形性の強い極柔軟体の制御系設計のために,高精度,かつ,低次元のモデル化手法を開発することを目的に,【1】曲げ捩りせん断および軸変形を考慮した非線形梁および非線形板へモード合成法を適用する自由度低減モデルの開発とその検証,【2】開発したモデルを用いた大変形と大回転を伴う極柔軟体の制御系の試設計,を行った.その結果,【3】非線形性の強い極柔軟梁と板に対する低次元モデルが計算精度を保持しながら,システムの自由度を低減できること,【4】提案した自由度低減モデルが床体操のように大回転と大変形を伴いながら移動するロボットの制御に適用可能であることを示した.