圧電素子を用いた多自由度マイクロロボットの構造と動作

Material type: 文書・図像類

Author: 鳥井, 昭宏ほか

Publisher: 愛知工業大学

Publication date: 2008-03-31

Material Format: Digital

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Note (General)：: We describe the structure and preliminary experimental results of two microrobots. The structure of the robot is a Stewart platform using piezo elemen...

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Material Type: 文書・図像類
Title: 圧電素子を用いた多自由度マイクロロボットの構造と動作
Author/Editor: 鳥井, 昭宏
楠, 慎也
植田, 明照
道木, 加絵
Author Heading: 鳥井, 昭宏
楠, 慎也
植田, 明照
道木, 加絵
Publication, Distribution, etc.: 愛知工業大学
Publication Date: 2008-03-31
Publication Date (W3CDTF): 2008-03-31
Alternative Title: アツデン　ソシ　ヲ　モチイタ　タジユウド　マイクロ　ロボット　ノ　コウゾウ　ト　ドウサ
The Structure and Motion of a Multi-DOF Microrobot Using Piezoelectric Elements
Periodical title: 愛知工業大学研究報告 = Bulletin of Aichi Institute of Technology
No. or year of volume/issue: 43
Volume: 43
Pages: 71-76
ISSN (Periodical Title): ISSN : 1883-3217
Text Language Code: jpn
Target Audience: 一般
Note (General): We describe the structure and preliminary experimental results of two microrobots. The structure of the robot is a Stewart platform using piezo elements. The robots move on a surface in a wide operation area by the principle of an inchworm. Their platforms realize minute displacement with six degrees of freedom by the parallel mechanism. The static displacement of the platforms is expressed by using the Jacobian matrix. The minute displacements obtained by the preliminary experiments were described. In the first model, the displacement was much smaller than the theoretical value, because of the stiffness of the structure. In the second model, we introduced elastic hinge mechanism which enlarges the deformation of the piezo and decreases the stiffness of the structure. The minute displacement which was obtained experimentally almost agreed with the theoretical displacement. The minimum displacement in the linear direction was 1 μm, and the maximum linear displacement was about 10 μm.
identifier:http://repository.aitech.ac.jp/dspace/handle/11133/1393
Format (IMT): application/pdf
Source: http://repository.aitech.ac.jp/dspace/bitstream/11133/1393/1/%e7%b4%80%e8%a6%8143%e5%8f%b7%28P71-76%29.pdf
http://repository.aitech.ac.jp/dspace/bitstream/11133/1393/1/%e7%b4%80%e8%a6%8143%e5%8f%b7%28P71-76%29.pdf
Access Restrictions: 限定公開
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): 愛知工業大学 : 愛知工業大学学術情報リポジトリ