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  1. 学術雑誌掲載済論文
  2. 和雑誌

非駆動関節と低剛性リンクを有するマニピュレータの動特性シミュレーション

https://kitami-it.repo.nii.ac.jp/records/8005
b7f71a90-c21d-4458-b51c-6f3c7f35927e
名前 / ファイル ライセンス アクション
1997.7_非駆動関節と低剛性リンクを有するマニピュレータの動特性シミュレーション 1997.7_非駆動関節と低剛性リンクを有するマニピュレータの動特性シミュレーション .pdf (946.3 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2015-11-10
タイトル
言語 ja
タイトル 非駆動関節と低剛性リンクを有するマニピュレータの動特性シミュレーション
タイトル
言語 en
タイトル Simulation of Dynamic Characteristics of Manipulator Equipped with Passive Joint and Low-Rigidity Link
言語
言語 jpn
キーワード
主題Scheme Other
主題 Simulation
キーワード
主題Scheme Other
主題 Manipulator
キーワード
主題Scheme Other
主題 Motion Control
キーワード
主題Scheme Other
主題 Low-Rigidity Link
キーワード
主題Scheme Other
主題 Passive Joint
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
その他のタイトル
その他のタイトル Simulation of Dynamic Characteristics of Manipulator Equipped with Passive Joint and Low-Rigidity Link
著者 鈴木, 聡一郎

× 鈴木, 聡一郎

WEKO 44814
KAKEN 30250541

ja 鈴木, 聡一郎

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森谷, 優

× 森谷, 優

WEKO 41609

ja 森谷, 優

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山田, 元

× 山田, 元

WEKO 41610

ja 山田, 元

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加藤, 信彦

× 加藤, 信彦

WEKO 41611

ja 加藤, 信彦

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著者別名
姓名
姓名 SUZUKI, Soichiro
言語 en
著者別名
姓名
姓名 MORIYA, Masaru
言語 en
著者別名
姓名
姓名 YAMADA, Gen
言語 en
著者別名
姓名
姓名 KATO, Nobuhiko
言語 en
抄録
内容記述タイプ Abstract
内容記述 In this paper, we describe the dynamic characteristics of a two link maniqulator which equipped with a passive joint and a low-rigidity link. This manipulator is composed of high-and low-rigidity tinks which are connected by a passive joint and an electromagnetic brake. The purpose of this structural feature is to harness the elastic strain energy of the low-rigidity link and the inertia of the system itself. >From the viewpoint of energy efficiency, the performance of this manipulator was evaluated analytically in terms of the energy efficiency index, i.e., the ratio of the kinetic energy of the payload to the work load of the driving motor. Also the carrier efficiency index was estimated as the ratio of the energy efficiency index to the working time required. As a result, in terms of working efficiency, this manipulator was compared with a typical two-link horizontal manipulator in various conditions of motion. It was clarified that the energy efficiency index strongly depends on the initial angle of the passive joint.
書誌情報 日本機械学會論文集. C編

巻 63, 号 611, p. 2351-2359
DOI
関連識別子
識別子タイプ DOI
関連識別子 http://doi.org/10.1299/kikaic.63.2351
権利
権利情報 c 1997 一般社団法人日本機械学会
出版者
出版者 一般社団法人日本機械学会
著者版フラグ
値 publisher
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
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