A Realization of Force Transmission Mechanism in Multi-Degrees-of-Freedom Nonlinear Acuator

多自由度非线性执行机构力传递机构的实现

• 批准号: 03650239
• 负责人: OHNISHI Kouhei
• 金额: $ 1.22万
• 依托单位: Keio University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1991
• 资助国家: 日本
• 起止时间: 1991 至 1992
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-03650239/
• 关键词: Soliton; Multi-Degrres-of-Freedom Actuator; Nonlinear Potential; Polyimide; Force Transmission Mechanism; Artificial Muscle; Micro Machine; Force Control; 多自由度格子; アクチュエ-タ; 力伝達; 半導体加工

Recently industrial robot has made remarkable progress in several industrial fields. However the motion of present industrial robot is not flexible enough to realize the adaptive motion according to the desired task. To improve this problem, it is necessary to develop the novel technology of actuator which drives the robot. The purpose of this study is to develop a new actuator which is flexible, compact, light.The actuator proposed in this study has the structure which consists of a series of small actuators. Then, the larger the number of actuator is, the more the degrees-of-freedom motion increases. In this case, dimensions of the actuating system become large as the number of elemental actuators increases. Recent progress of semiconductor technology makes it possible to fabricate various microstructure. This means that an elemental actuator, which has the multi-degrees-of-freedom motion, is fabricated by using micromachining technology. In the study, we propose the fabrication method and the optimal structure of the comb-shaped actuator which is an element of Multi-Degrees-Of-Freedom (MDOF) actuator. The proposed MDOF actuator is the decentralized actuating system. This is the main difference between the MDOF actuator and the conventional actuator such as DC motor which is the centralized actuating system.In the system constructed by MDOF actuator, it is difficult to control each actuator independently. Here we show a control strategy which transmits control signals through a series of actuators. Then force controller based on the nonlinear lattice theory is also introduced. In the proposed nonlinear system, it makes possible to transmit stable force pulses through the line of actuators. To confirm the validity of the proposed control strategy of the MDOF actuating system, the position feedback control is simulated.

近年来，工业机器人在多个工业领域取得了令人瞩目的进展。然而，目前工业机器人的运动不够灵活，无法根据期望的任务实现自适应运动。为了改善这一问题，有必要开发驱动机器人的新型执行器技术。本研究的目的是开发一种柔性、紧凑、轻便的新型致动器。本研究提出的执行机构具有由一系列小型执行机构组成的结构。然后，作动器数量越多，运动自由度越大。在这种情况下，执行系统的尺寸随着元件执行器数量的增加而变大。近年来半导体技术的进步使制造各种微结构成为可能。这意味着利用微加工技术制造出具有多自由度运动的单质作动器。在研究中，提出了作为多自由度作动器元件的梳状作动器的制作方法和优化结构。所提出的多自由度作动器是分散作动系统。这是多自由度作动器与传统作动器（如直流电动机）的主要区别，后者是集中式作动系统。在多自由度作动器构成的系统中，很难对各个作动器进行独立控制。在这里，我们展示了一种通过一系列执行器传递控制信号的控制策略。然后介绍了基于非线性格理论的力控制器。在所提出的非线性系统中，它使得通过执行器的线路传递稳定的力脉冲成为可能。为了验证所提出的多自由度作动系统控制策略的有效性，对位置反馈控制进行了仿真。

项目成果

Kouhei Ohnishi: "Fabrication of Comb-Shaped Microactuator for Multi-Degrees-of-Freedom System" IEEE.Conf.Industrial Electronics,Control and Instrumentation(IECON'92). 1. 990-995 (1992)

Kouhei Ohnishi：“用于多自由度系统的梳状微执行器的制造”IEEE.Conf.工业电子、控制和仪表(IECON92)。

Kouhei Ohnishi: "A Structure of Network of Actuators for Motion Control" 2nd Int. Symposium on Measurement and Control in Robotics(ISMCR'92). 1. 501-506 (1992)

Kouhei Ohnishi：“运动控制执行器网络结构”第二届 Int。

Kouhei Ohnishi: "A Force Control of Network Actuators" Fifth International Conference on Advanced Robotics held in ltaly. 1. 1195-1199 (1991)

Kouhei Ohnishi：“网络执行器的力控制”第五届国际先进机器人会议在意大利举行。

Kouhei Ohnishi: "A Structure of Network of Actuators for Motion Control" 2nd Int.Symposium on Measurement and Control in Robotics(ISMCR'92).

Kouhei Ohnishi：“运动控制执行器网络结构”第二届机器人测量与控制国际研讨会（ISMCR92）。

Kouhei Ohnishi: "A structure of Network of Actuators for Motion Control" 2nd Int. Symposium on Measurement and Control in Robotics (ISMCR'92). 501-506 (1992)

Kouhei Ohnishi：“运动控制执行器网络的结构”第二届 Int。