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Development of antagonistic wire-driven joint employing kinematic transmission mechanism
http://hdl.handle.net/10228/4680
http://hdl.handle.net/10228/46809ca9de1e-521b-480f-bd6d-647836f7344b
名前 / ファイル | ライセンス | アクション |
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JAMRIS_No02_2010_P_62-70.pdf (1.5 MB)
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Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||
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公開日 | 2010-07-05 | |||||||||||
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 | |||||||||||
タイトル | ||||||||||||
タイトル | Development of antagonistic wire-driven joint employing kinematic transmission mechanism | |||||||||||
言語 | ||||||||||||
言語 | eng | |||||||||||
著者 |
Sonoda, Takashi
× Sonoda, Takashi× Nishida, Yuya× Nassiraei, Amir Ali Forough× 石井, 和男
WEKO
3456
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抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments. | |||||||||||
書誌情報 |
Journal of Automation, Mobile Robotics & Intelligent Systems 巻 4, 号 2, p. 62-70, 発行日 2010-03 |
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出版社 | ||||||||||||
出版者 | PIAP | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | ISSN | |||||||||||
収録物識別子 | 1897-8649 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | ISSN | |||||||||||
収録物識別子 | 2080-2145 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | http://www.jamris.org/ | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | antagonistic-driven joints | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | equilibrium point hypothesis | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | controllable stiffness mechanisms | |||||||||||
出版タイプ | ||||||||||||
出版タイプ | VoR | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
査読の有無 | ||||||||||||
値 | yes | |||||||||||
研究者情報 | ||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html | ||||||||||||
連携ID | ||||||||||||
41 | ||||||||||||
業績ID | ||||||||||||
36CF241464AF88AD492577120059E73E | ||||||||||||
資料タイプ | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | Journal Article | |||||||||||
著者別名 | ||||||||||||
姓名 | Ishii, Kazuo | |||||||||||
言語 | en | |||||||||||
姓名 | 石井, 和男 | |||||||||||
言語 | ja | |||||||||||
姓名 | イシイ, カズオ | |||||||||||
言語 | ja-Kana | |||||||||||
著者所属 | ||||||||||||
Fukuoka Industry, Science & Technology Foundation, The University of Kitakyushu | ||||||||||||
著者所属 | ||||||||||||
Kyushu Institute of Technology | ||||||||||||
著者所属 | ||||||||||||
Kyushu Institute of Technology | ||||||||||||
著者所属 | ||||||||||||
Kyushu Institute of Technology |