衝突安全性と機敏な接触安定性を兼ね備えたロボットアーム用関節機構

Material type: 図書

Author: 相山康道

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Publication date: 2023

Material Format: Digital

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Note (General)：: 今回の研究期間で新たな空気圧を利用した可変剛性機構を開発した．ゴムホースをつぶす方向で使うことで剛性の高い空気袋を採用したこと，弾性部の可動範囲を狭めることで，剛性を以前に開発した機構の40倍程度に上げることに成功した．この機構を使った1自由度ロボットアームを作製し，衝突時の撃力減少の効果とゴムホー...

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Material Type: 図書
Title: 衝突安全性と機敏な接触安定性を兼ね備えたロボットアーム用関節機構
Author/Editor: 相山康道
Author Heading: 相山康道
https://nrid.nii.ac.jp/ja/nrid/1000060272374
Publication Date: 2023
Publication Date (W3CDTF): 2023
Alternative Title: Joint mechanism for robot arm that features both collision safety and quick contact stability
Text Language Code: jpn
Subject Heading: ロボット工学
Target Audience: 一般
Note (General): 今回の研究期間で新たな空気圧を利用した可変剛性機構を開発した．ゴムホースをつぶす方向で使うことで剛性の高い空気袋を採用したこと，弾性部の可動範囲を狭めることで，剛性を以前に開発した機構の40倍程度に上げることに成功した．この機構を使った1自由度ロボットアームを作製し，衝突時の撃力減少の効果とゴムホースの粘性を利用した振動抑制のモデル化および実機実験を行った．衝突時の撃力は弾性部より先の質量のみが影響するため，撃力の大きさが減少する．また弾性部があると衝突後に跳ね返り振動を起こすが，押し付け力を発生させる軌道生成を行うと，短時間で跳ね返りはなくなり安定することをモデル及び実機実験により示した．
A novel variable stiffness mechanism using compressed air is developed in this research period. By using a rubber hose in a crushing direction, a highly rigid air bag was introduced, and by narrowing the range of motion of the elastic part, the rigidity increased to about 40 times that of the previously developed mechanism.A one-degree-of-freedom robot arm is made using this mechanism, and modeling and actual experiments are conducted on the effect of reducing the impact force during collision and vibration suppression using the viscosity of a rubber hose. The impact force at the time of collision is affected only by the mass prior to the elastic part, and thus the magnitude of the impact force can be reduced. The elastic part of the hose causes bouncing vibration after the collision, but the model and the experiments on the machine show that the bouncing is eliminated and stabilized in a short period of time by generating a trajectory that generates a pushing force.
科学研究費助成事業研究成果報告書：基盤研究(C)2021-2023 課題番号 : 21K03961
Format (IMT): application/pdf
Source: fulltext
https://tsukuba.repo.nii.ac.jp/record/2015665/files/21K03961seika.pdf
Access Restrictions: インターネット公開
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 筑波大学 : つくばリポジトリ