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可変張力ばね機構によるロボットアームの省エネ駆動
https://doi.org/10.24517/00050605
https://doi.org/10.24517/000506054a0eecae-e2e7-475c-8c92-a88c2b4f7601
名前 / ファイル | ライセンス | アクション |
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TE-PR-SEKI-H-933.pdf (828.4 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-06-14 | |||||
タイトル | ||||||
タイトル | 可変張力ばね機構によるロボットアームの省エネ駆動 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Energy-saving of Robot Arm by Using Variable Spring Tension Mechanism | |||||
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 | 10.24517/00050605 | |||||
ID登録タイプ | JaLC | |||||
著者 |
長橋, 光之
× 長橋, 光之× 関, 啓明× 神谷, 好承× 疋津, 正利 |
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著者別表示 |
Nagahashi, Mitsuyuki
× Nagahashi, Mitsuyuki× Seki, Hiroaki× Kuroda, Shigetoshi× 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フロンティア工学系 | |||||
書誌情報 |
精密工学会学術講演会講演論文集 en : 2015 JSPE Spring Conference 巻 2015 Spring, 号 Q01, p. 933-934, 発行日 2015 |
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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.2015S.0_933 | |||||
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 | Nowadays, it is necessary to save energy of industrial robot arms. Gravity compensation mechanisms have been proposed, however these are complex and difficult to attach them to industrial robots. This paper proposes the method to save energy of robot arm by attaching a simple mechanism, which consists of a wire and a spring. The mechanism pulls robot arm up and reduce its joint torque. The spring tension is set by winding a wire off with a motor considering mass of grasping object. We investigated the effect of this mechanism by simulation.昨今産業用ロボットアームには省エネ化が求められている.従来アーム自重を補償する機構が考えられているが,複雑で組込みにくい.そこで本研究では,既存のロボットアームを上方からワイヤとばねで吊ることでアームの負荷を軽減する方法を提案する.アーム本体と把持物の質量および作業を考慮してワイヤをモータで巻き取ることでばねの張力を設定する.この方法により省エネ化が可能であるかをシミュレーションによって検証した. |
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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/ |