A Study on Redundancies in Bio and Mechanical Systems

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The following objectives were taken in series of our researches.(1) Examination of the redundancies in living things was done and their applications to engineering problems. (material, structure, mechanism, sensor, actuator)(2) Various redundancies in manipulators. (degrees of freedom, number of sensors and actuators, driving mechanism, reliability) were taken as targets to be evaluated and they were totally evaluated from effectiveness and robustness. Propositions of emergent design methods of innovative manipulators were hold and the evaluation of the proposed method by experiments.(3) Total evaluations of the redundancies in materials, mechanisms and structures and propositions of creative design methods of mechanical systems in view of them.(4) Considering above mentioned points (2) and (3) propositions of innovative mechanical systems was done. Redundancies of mechanisms, actuators and relation between positions of locations and ones of drivings were clarified in 2003 and 2004. Studies on innovative design method of mechanical system involving actuators and mechanisms were carried out. Concretely introducing optimization, the design methods were proposed by taking parameters on redundancies to reduce the energy of each actuator and total required energy. In the final year of this project, all results obtained were summarized. Then based on the results, successive and developing researches were then carried out and introduced.