| Item type |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2015-11-10 |
| タイトル |
|
|
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 |
|
言語 |
ja |
| タイトル |
|
|
タイトル |
Simulation of Dynamic Characteristics of Manipulator Equipped with Passive Joint and Low-Rigidity Link |
|
言語 |
en |
| 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 |
| 著者 |
鈴木, 聡一郎
森谷, 優
山田, 元
加藤, 信彦
|
| 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 |
|
|
|
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 |
|
|
言語 |
en |
|
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 |
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)
