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

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.

著者

高山 俊男 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.2000, 2000

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大地震等の大規模災害時には被災者を早期に救出する必要がある。本研究では, 倒壊家屋内の様な狭隘部での移動体として, これまでにない移動方式をとる螺旋体型移動体を取り上げる。これは螺旋状の鍔を持つ多節体を螺旋状にくねらせて瓦礫内に入っていく移動体である。本機体はその構造上, 水陸両用の移動体となりうる。そこで, そのために最適な形状と移動方式について検討し, その妥当性を実験によって検証する。