書誌事項
- タイトル別名
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- Stiffness Control of Antagonistically Driven Joints Mechanism
- ヒセンケイ ダンセイ ヨウソ オ ユウスル アクチュエータ ANLES オ モチイタ キッコウ クドウガタ カンセツ ノ ゴウセイ オヨビ シセイ セイギョ
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The paper presents a three DOF mechanical wrist that is capable to control its joint stiffness as well as joint angle by using the ANLES (Actuator with Non-Linear Elastic System). First it describes the structure of the ANLES followed by the designing method of the non-linear elasticity. Subsequently it shows the second machine of the wrist joint controlled by the ANLES of which size and weight are downsized nearly a half compared to the first machine. Next it presents a new ANLES (we call V-ANLES) that has a viscosity to suppress vibrations caused by the elasticity. It follows the experimental results of the step-response of the joint to show the V-ANLES successfully diminishes the overshoot. Finally it shows the experimental results to rotate the wrist joint about Z-axis by using the four ANLES.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 29 (2), 192-200, 2011
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204728579840
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- NII論文ID
- 10027810500
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 11048184
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可