A Study on Redundancies in Bio and Mechanical Systems

在我们的一系列研究中，我们采取了以下目标。(1)对生物中的冗余进行了研究，并将其应用于工程问题。（材料、结构、机构、传感器、执行器）（2）机械手中的各种冗余。（自由度、传感器和执行器数目、驱动机构、可靠性）作为评价指标，从有效性和鲁棒性两个方面进行综合评价。提出了创新机械手紧急设计方法，并通过实验对所提方法进行了评价。(3)对材料、机构和结构的冗余度进行了全面评价，并据此提出了机械系统的创新设计方法。(4)基于上述（2）、（3）两点，提出了机械创新系统的设想。在2003年和2004年澄清了机构、致动器和位置与驱动位置之间的关系的冗余。研究了包含执行机构和机构的机械系统创新设计方法。具体介绍了优化设计方法，提出了通过对冗余度取参数，以减少每个驱动器的能量和总能量需求的设计方法。在该项目的最后一年，总结了所有取得的成果。在此基础上，介绍了后续研究和发展研究。

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.