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成果報告書詳細
管理番号20190000000262
タイトル*平成30年度中間年報 NEDO先導研究プログラム 新産業創出新技術先導研究プログラム 次世代産業用ソフトロボットの実現に向けた革新的MR材料×駆動機構の融合研究開発
公開日2019/6/14
報告書年度2018 - 2018
委託先名学校法人早稲田大学 日本ペイントホールディングス株式会社
プロジェクト番号P14004
部署名ロボット・AI部
和文要約
英文要約Title: NEDO Cutting-Edge Research Project. Multidisciplinary Research and Development of Innova-tive Magnetorheological Fluids and Actuation Mechanism for Smart Soft Robots for Advanced Indus-tries (FY2018-FY2019) FY2019 Annual Report

1. Research purpose
The purpose of this study is to conduct multidisciplinary research and development for the realization of next-generation industrial soft robots, called Smart Soft Robots for Advanced Industries (SRAI), which have high power, high backdrivability, high responsiveness, low inertia, smooth controllability at a low speed, and so on. We here propose a new scheme of manufacturing based on the multidisciplinary fusion of "material x mechanism x control and artificial intelligence (AI)", obtain research and development results for a new industrial technology framework, and put the soft-rigid robots into practical use as its application. In the cutting-edge research program period (two years), we focus on "material x mechanism" and create a robot arm, on the basis of "creation of highly functional magnetic field response (Magnetorheological: MR) materials" and "development of innovative smart fluid drive mechanism".

2. Results
(A) Study on action mechanism of composition function for unit technology
In the proposed actuator, the working fluid MRF can move through the MRF seal. The strength of the magnetic field applied to the MRF seal is changed by the current applied to the electromagnet coil, so the pressure resistance of the MRF seal can be adjusted. The output and backdrivability can be changed by the pressure difference generated by this. The pressure difference between the two chambers in the BMS actuator depends on the viscosity and flow rate of the MRF passing through the MRF seal. Thus, torque and rotational speed can be controlled by viscosity change by applying magnetic flux to the MRF seal and flow rate change of the pump. As a prototype, we developed an actuator which has the same of human hands. The experimented indicated higher backdrivability with equivalent torque output, high power rate density equivalent to hydraulic actuator, power density equivalent to electric actuator.

(B) Study on action mechanism of component materials for unit technology
Although MRF has very distinctive and superior mechanical performance, it is reaffirmed that the lack of long-term material stability exists as an essential problem. Here, we should fundamentally solve it as the first priority task. We addressed on the fundamental solution of problem 1: sedimentation separation inhibition, problem 2: establishment of magnetic field generation stress evaluation technology and clarification of the controlling factor. As a result, we established the sedimentation control technology and clarified the relationship between the basic characteristics and composition. The important unit technology required by the new MR material was clarified, and the necessary characteristics on the constituent material were clarified.
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