WEKO3
インデックスリンク
アイテム
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We also develop the SCARA robot equipped with this flexible joints for assembly task.従来から力制御のできるロボットアームが研究されているが,位置制御ロボットと比べ,工場内での生産現場への導入事例は非常に限られている.その原因としては,力制御は不安定になりやすくアームの動作が非常に遅くなることが挙げられる.解決策としては,機械的に剛性を変化できる機構が有効である.そこで,本研究では組立作業用のロボットアームとして板バネを関節に組み込んで剛性を変えられるスカラ型アームの開発を行う.", "subitem_description_type": "Abstract"}]}, "item_4_description_22": {"attribute_name": "内容記述", "attribute_value_mlt": [{"subitem_description": "出版者照会後に全文公開", "subitem_description_type": "Other"}]}, "item_4_description_5": {"attribute_name": "提供者所属", "attribute_value_mlt": [{"subitem_description": "金沢大学理工研究域機械工学系", "subitem_description_type": "Other"}]}, "item_4_identifier_registration": {"attribute_name": "ID登録", "attribute_value_mlt": [{"subitem_identifier_reg_text": "10.24517/00050325", "subitem_identifier_reg_type": "JaLC"}]}, "item_4_publisher_17": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "精密工学会 = The Japan Society for Precision Engineering"}]}, "item_4_relation_11": 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機械的に剛性を変化できる力作業用スカラ型ロボットアーム
https://doi.org/10.24517/00050325
https://doi.org/10.24517/000503250b8cd782-3499-4cd7-ba09-42e00a898ee7
名前 / ファイル | ライセンス | アクション |
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TE-PR-SEKI-H-825.pdf (276.3 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-02-19 | |||||
タイトル | ||||||
タイトル | 機械的に剛性を変化できる力作業用スカラ型ロボットアーム | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | SCARA Robot Arm with Variable Compliance Joints | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
ID登録 | ||||||
ID登録 | 10.24517/00050325 | |||||
ID登録タイプ | JaLC | |||||
著者 |
小野, 篤彦
× 小野, 篤彦× 関, 啓明× 神谷, 好承× 疋津, 正利 |
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著者別表示 |
Ono, Atsuhiko
× Ono, Atsuhiko× Seki, Hiroaki× Kamiya, Yoshitsugu× Hikizu, Masatoshi |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学理工研究域機械工学系 | |||||
書誌情報 |
精密工学会学術講演会講演論文集 en : 2006 JSPE Spring Meeting 巻 2006 Spring, 号 K20, p. 825-826, 発行日 2006 |
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NCID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | BA90159927 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.11522/pscjspe.2006S.0.825.0 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | There are few assembly robots with force control in factories, because force control tends to be unstable and its motion is slow. The flexible joint that can change its compliance mechanically by rotating leaf spring is developed to solve this problem. This mechanism is simple to change compliance quickly with good stability. This robot can do both positioning control and force control. We also develop the SCARA robot equipped with this flexible joints for assembly task.従来から力制御のできるロボットアームが研究されているが,位置制御ロボットと比べ,工場内での生産現場への導入事例は非常に限られている.その原因としては,力制御は不安定になりやすくアームの動作が非常に遅くなることが挙げられる.解決策としては,機械的に剛性を変化できる機構が有効である.そこで,本研究では組立作業用のロボットアームとして板バネを関節に組み込んで剛性を変えられるスカラ型アームの開発を行う. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 出版者照会後に全文公開 | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連名称 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ | |||||
関連名称 | http://www.jspe.or.jp/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/publication/ext_site/jstage/ | |||||
関連名称 | http://www.jspe.or.jp/publication/ext_site/jstage/ |