チェインドフォーム・マニピュレータの設計 Design of the Chained Form Manipulator

この論文にアクセスする

この論文をさがす

著者

抄録

Exploiting the unique features of nonholonomic systems, we have proposed and fabricated the nonholonomic manipulator which is a controllable <i>n</i> joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was used.<br>There are many possible alternatives of designing underactuated manipulators using the nonholonomic gear. The nonholonomic manipulator was designed focusing on the mechanical simplicity. As a result, we have faced with several problems in building a manipulator with many number of joints. In this paper, we propose the chained form manipulator which is designed to solve mechanical and mathematical problems. Presented simulation results show that the new design satisfies control simplicity.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(1), pp.61-67, 1999-01-15 

    The Robotics Society of Japan

参考文献:  16件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10002865333
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    3087071
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ