著者

内山 勝 飯村 憲一 多羅尾 進 ピエロ フランソワ 外山 修

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.12, no.3, pp.451-458, 1994-04-15 (Released:2010-08-25)

参考文献数

11

被引用文献数

10 14

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The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.

著者

池田 博 土井 浩一郎 福田 洋一 野口 隆志 中嶋 俊哉 飯村 憲 渋谷 和雄

出版者

公益社団法人 低温工学・超電導学会 (旧 社団法人 低温工学協会)

雑誌

低温工学 (ISSN:03892441)

巻号頁・発行日

vol.39, no.8, pp.348-353, 2004 (Released:2008-03-10)

参考文献数

8

被引用文献数

3 3

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From February 2003 to January 2004, a new superconducting gravimeter with a cryocooler was installed to replace the former device at the Syowa station in Antarctica. The new gravimeter has a high sensitivity of one nano-gal and is being used to survey the earth's core in the Global Geodynamics Project. A new type of diaphragm was confirmed to well isolate the vibration from the refrigerator cold-head and effectively prevent solid air contamination. A remote monitoring system from Japan is also going to be installed.

著者

内山 勝 飯村 憲一 多羅尾 進 ピエロ フランソワ 外山 修

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.12, no.3, pp.117-124, 1994-04-15

被引用文献数

16 14

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The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called HEXA mechanism, which consists of a kinematic chain with five closed loops and is driven only by actuators at its base. This robot consists of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this paper, we present development of a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion.