非平行型能動・受動ハイブリッド関節を用いた非把持ダイナミックマニピュレーション

• 夏原 裕也

  大阪大学大学院工学研究科

• 東森 充

  大阪大学大学院工学研究科

書誌事項

タイトル別名

• Dynamic Nonprehensile Manipulation by Using Active-passive Hybrid Joint with Nonparallel Axes
• ヒヘイコウガタ ノウドウ ・ ジュドウ ハイブリッド カンセツ オ モチイタ ヒハジ ダイナミックマニピュレーション

抄録

This paper discusses a dynamic nonprehensile manipulation by using a vibrating plate. The manipulation method, where 2-DOF (degrees of freedom) translational motion of a object on the plate surface is controlled by a single active joint, is proposed. For the plate vibration mechanism, we first introduce the active-passive hybrid joint with viscoelasticity. This mechanism features that the plate vibration direction is variable based on the input frequency of the active joint. We then analytically derive the trajectory of the object on the vibrating plate. Through this analysis, we reveal that 2-DOF translational motion of the object can be controlled by using the variable vibration direction. After showing the relationship between the viscoelasticity of the passive joint and the object's translational velocity, we further discuss the optimum design parameter. Finally, we show experimental result by using the prototype robot, for confirming the validity of the proposed method.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 33 (6), 451-459, 2015

  一般社団法人 日本ロボット学会

キーワード

• Dynamic Manipulation
• Nonprehensile Manipulation
• Active-passive Hybrid Joint
• Variable Vibration Trajectory

詳細情報

• CRID: 1390001204728876160
• NII論文ID: 130005092867
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.33.451
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 026616059
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I026616059
• Web Site: https://www.jstage.jst.go.jp/article/jrsj/33/6/33_33_451/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可