{"created":"2023-07-27T06:51:01.324373+00:00","id":44263,"links":{},"metadata":{"_buckets":{"deposit":"fc535823-3b99-4b12-8980-8d3d95eda149"},"_deposit":{"created_by":18,"id":"44263","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"44263"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00044263","sets":["934:935:936"]},"author_link":["74575","2589","74579","71731","757","350","10619","71726"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2015","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"Q01","bibliographicPageEnd":"934","bibliographicPageStart":"933","bibliographicVolumeNumber":"2015 Spring","bibliographic_titles":[{"bibliographic_title":"精密工学会学術講演会講演論文集"},{"bibliographic_title":"2015 JSPE Spring Conference","bibliographic_titleLang":"en"}]}]},"item_4_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Nagahashi, Mitsuyuki"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Seki, Hiroaki"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"Kuroda, Shigetoshi"}],"nameIdentifiers":[{},{},{}]},{"creatorNames":[{"creatorName":"Hikizu, Masatoshi"}],"nameIdentifiers":[{},{},{}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Nowadays, it is necessary to save energy of industrial robot arms. Gravity compensation mechanisms have been\nproposed, however these are complex and difficult to attach them to industrial robots. This paper proposes the method to\nsave energy of robot arm by attaching a simple mechanism, which consists of a wire and a spring. The mechanism pulls\nrobot arm up and reduce its joint torque. The spring tension is set by winding a wire off with a motor considering mass of\ngrasping 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．","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フロンティア工学系","subitem_description_type":"Other"}]},"item_4_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24517/00050605","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":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"BA90159927","subitem_relation_type_select":"NCID"}}]},"item_4_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.11522/pscjspe.2015S.0_933","subitem_relation_type_select":"DOI"}}]},"item_4_relation_28":{"attribute_name":"関連URI","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"http://www.jspe.or.jp/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"http://www.jspe.or.jp/","subitem_relation_type_select":"URI"}}]},"item_4_rights_23":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright © The Japan Society for Precision Engineering"}]},"item_4_version_type_25":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"長橋, 光之"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"関, 啓明"}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"神谷, 好承"}],"nameIdentifiers":[{},{}]},{"creatorNames":[{"creatorName":"疋津, 正利"}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2018-06-14"}],"displaytype":"detail","filename":"TE-PR-SEKI-H-933.pdf","filesize":[{"value":"828.4 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-SEKI-H-933.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/44263/files/TE-PR-SEKI-H-933.pdf"},"version_id":"a813a1c0-0a89-4ece-acc0-a3e803b75b7c"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"可変張力ばね機構によるロボットアームの省エネ駆動","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"可変張力ばね機構によるロボットアームの省エネ駆動"},{"subitem_title":"Energy-saving of Robot Arm by Using Variable Spring Tension Mechanism","subitem_title_language":"en"}]},"item_type_id":"4","owner":"18","path":["936"],"pubdate":{"attribute_name":"公開日","attribute_value":"2018-06-14"},"publish_date":"2018-06-14","publish_status":"0","recid":"44263","relation_version_is_last":true,"title":["可変張力ばね機構によるロボットアームの省エネ駆動"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-07-27T17:05:32.062205+00:00"}