An Optimum Design for Handling a Visco-elastic Object Based on Maxwell Model
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- Sakamoto Naoki
- MAYEKAWA MFG. CO., LTD.
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- Yuya Masahiro
- Graduate School of Engineering, Hiroshima University
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- Higashimori Mitsuru
- Graduate School of Engineering, Osaka University
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- Kaneko Makoto
- Graduate School of Engineering, Osaka University
Bibliographic Information
- Other Title
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- Maxwellモデルで近似できる粘弾性物体の最適ハンドリング
- Maxwell モデル デ キンジ デキル ネンダンセイ ブッタイ ノ サイテキ ハンドリング
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Abstract
This paper discusses a design approach on robotic hand by considering the characteristics of visco-elasticity. “NORIMAKI” is a typical example where it has the visco-elastic characteristics. We first show that the dynamic characteristics of “NORIMAKI” can be expressed by utilizing the Maxwell model with two layers. Based on dynamic parameters obtained by experiments, we make clear the relationship among the total working time, the plastic deformation of food after the operation, the hand stiffness, and the operating velocity of the hand. We newly found an interesting behavior where there exists an optimum set of the design parameters for achieving the minimum plastic deformation.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 25 (1), 166-172, 2007
The Robotics Society of Japan
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Details
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- CRID
- 1390001204727172864
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- NII Article ID
- 10018695758
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 8635948
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed