高速SMAアクチュエータを用いた3自由度干渉駆動関節の開発

使用高速 SMA 执行器开发 3 自由度干涉驱动关节

• 批准号: 17656083
• 负责人: 横井 浩史
• 金额: $ 1.98万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Exploratory Research
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-17656083/
• 关键词: 形状記憶合金(SMA); 自然放熱; 高速応答性; ジュール熱加熱; 干渉駆動関節; 温度コントロール; PWM制御; アクチュエータ; ジュール熱過熱

平成18年度の成果は,平成17年度に構築した高速SMAアクチュエータを用いた冗長自由度干渉駆動関節をさらに発展させる為,(1)多様な干渉駆動関節の自動設計を可能にする「干渉駆動関節の進化設計法」と(2)干渉駆動関節の実践的利用を目的とする「モジュール型ワイヤー駆動装置を用いた歩行補助機の開発」に大別される.以下にその成果を列挙する.1)干渉駆動関節は,複数のワイヤーの配置方法とその協調制御法により効果的な機能の実現が期待されるが,その解空間は広大であるため,目的とする機能を満たす干渉駆動関節を自動設計するシステムが必要となる.そこで,進化計算を採用し,形状と制御の同時進化を用いた設計法の提案を行った.まず,「前進安定移動」を実現することを目標としてDCモータを駆動機とするロボットの進化設計を行い,進化設計システムの評価と検証を行った.その結果,単純な制御においても前進安定移動を実現するロボットモデルが獲得され,進化設計の有効性が示された.次の段階として,ワイヤー方式駆動機を採用し,ロボットの形態に効率的に適合する干渉駆動機構と制御の探索を試みる.2)高速SMAアクチュエータ開発の一成果として反応速度の向上を実現したが,連続利用やモバイル化など実践的使用に向けた課題は未だ解決されていない.そこで,DCモータによるワイヤー巻取り方式を将来実現しうるSMAアクチュエータの性能に見立て,複数ワイヤーの協調制御法の構築を行った.また,その最終的な到達目標は,利用者個人の多様な麻痺特性や歩容,残存する運動機能に対応可能なモジュール型ワイヤー駆動歩行補助装置の開発である.現段階においては,下肢麻痺患者に2モジュールの試作機を使用してもらい,その評価実験を行った.その結果,補助装置を装着して歩行した際に計測した筋電位から筋力補助の様子を確認することができ,提案装置の有効性が示された.

Pingcheng 18 annual results, Pingcheng 17-year high-speed SMA high-speed railway equipment, long degrees of freedom, long degrees of freedom, high-speed, high-speed, high-speed (1) the automatic design of multi-agent monitoring may be related to the Program of Automation Settings for vehicle Operations. (2) the use of mobile phones for practical purposes. The purpose of the use of mobile phone devices is to use the mobile phone to start the operation of the vehicle. The following is a summary of the results. 1) the following is a summary of the results. 1) the following is a list of the results. 1) the following is a summary of the results of the system. 1) the following is a summary of the results of the system. 1) the following is a summary of the results of the system. 1) the following is a summary of the results of the system. 1) the following is a summary of the results. 1) the following is a summary of the results. 1) the following is a summary of the results of the system. 1) the following is a summary of the results. 1) the following is a summary of the results. 1 In order to improve the performance of the calculation system, the shape control system is used to improve the performance of the proposed method. In order to improve the safety and stability of the DC, the advanced stability movement is required to improve the performance of the mobile phone system. The results show that the system can improve the stability of the system. The results show that the performance is satisfactory, and the performance of the design is significant. In the second stage, the machine is in use, and the monitoring mechanism is responsible for the operation of the motor. 2) the results of the high-speed SMA train operation have shown that the speed has improved, and the link has not been solved by the use of the system to solve the problem. In the future, there will be a lot of problems in the future, such as the implementation of the DC, the SMA, the performance, the performance. License, the most popular destination header, the user multi-user multi-user tracking machine feature capacity, the remaining mobile machine can be disabled, and the mobile operator assistance device may be enabled to operate the system. Patients with anaesthesia of the lower extremities were treated with antiarrhythmia, and patients with anaesthesia of the lower extremities were operated on the machine. According to the results of the test, the auxiliary device is equipped with a computer program to help the operator to confirm that the computer is in trouble, and the proposed device has a negative effect.

项目成果

Pseudo-Passive Dynamic Walkers D,esigned by Coupled Evolution of Controller and Morphology

控制器与形态学耦合演化设计的伪被动动态步行器

• 发表时间: 2007
• 作者: 甲斐雄一郎;下地広泰;槌田雄二;戸高孝;榎園正人;Kojio Matsushita
• 通讯作者: Kojio Matsushita

Natural Heat-Sinking Control Method for Fast Actuation of the SMA

用于 SMA 快速驱动的自然散热控制方法

• 发表时间: 2006
• 期刊: International Journal of Advanced Robotics Systems Vol.3, No.4
• 作者: Chee Siong Loh;Hiroshi Yokoi;Tamio ARAI
• 通讯作者: Tamio ARAI

Investigation of Reality Constraints : Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion

现实约束的研究：动态稳定运动的两连杆腿式运动机的形态和控制器

• 发表时间: 2006
• 期刊: LNCS4095 : From Animals to Animats 9 (ISBN 978-3-540-38608-7) (Springer)
• 作者: Kojiro Matsushita;Hiroshi Yokoi;Tamio Arai
• 通讯作者: Tamio Arai

Locomoting with less computation but more morphology.

计算量更少但形态更多的运动。

• 发表时间: 2005
• 期刊: Proceedings of 20th International Conference on Robotics and Automation (ICRA2005)
• 作者: Kojiro Matsushita;Max Lungarella;Chandana Paul;Hiroshi Yokoi
• 通讯作者: Hiroshi Yokoi

Plastic-Bottle-Based Robots in Educational Robotics Courses-Understanding Embodied Artificial Intelligence-

教育机器人课程中的塑料瓶机器人-了解具体人工智能-

• 发表时间: 2007
• 期刊: Journal of Robotics and Mechatronics Vo1.19, No.2(採録決定済,4月出版)
• 作者: Kojiro Matsushita;Hiroshi Yokoi;Tamio Arai
• 通讯作者: Tamio Arai