成果報告書詳細
管理番号20160000000593
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)次世代機能性材料 剛性と柔軟性を融合させるスマートメカニクス
公開日2016/9/7
報告書年度2015 - 2015
委託先名国立大学法人筑波大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Strategic Advancement of Multi-Purpose Ultra-Human Robot and Artificial Intelligence Technologies/ (Future robot technology) Next-generation advanced functional material/ Smart Mechanics for Innovative Robot Joints capable of Switching High Compliance and Stiffness

FY 2015 Annual Report

The final goal of this research project is to develop an innovative robot joint using next-generation functional advanced material. To achieve this, we have set four achievement targets for the survey study in the first stage, i.e., 1) clarifying the limit performance of varying stiffness of robot joints quantitatively based on collected information on state-of the-art robot joints, 2) clarifying the ideal performance of varying stiffness of robot joints based on the collected information on human joints, 3) benchmarking the ability of variable stiffness of the proposed robot joint in comparison with other existing ones, and 4) formulating mathematically the mechanics of controlling power flow by the proposed robot joint for which we will make full use of advanced functional material.
This research project started at the end of November, and therefore we had only four months in FY2015. During this short period, we first collected the information on robot joints. We confirmed the progress of robot joints accurately and precisely with the essential concepts, such as impedance control, series elastic actuator, variable stiffness or impedance actuator, based on the collected literature information, and latest research presentations in domestic conferences. We also gathered the robot joint information by the interviews with a researcher who was one of the top experts on Magnetorheological (MR) fluid and its robot applications, and researchers in industrial robot companies who knew the importance of variable stiffness of robot joints in assembly tasks.
We are preparing our benchmark experiment. We consider that the MR-link, which is a passive translational joint with a coil spring whose length can be ‘freezed’ by surrounding MR fluid under a controlled magnetic field. We have obtained mechanical parts and materials for this MR-link as well as the free joints for comparison among various mechanisms, and so on.
We also started to building up robotics theory of smart mechanics. We are formulating power flow controlled by a functional robot joint in the course of task achievement. The concepts of bond graph, port-controlled Hamiltonian, passivity-based and Circuit-theoretic Approach are considered to be very important for the mathematical formulation.
We presented our idea of smart mechanics in a conference and seminars in order to publicize our research activities.
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