| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2020-11-24 |
| タイトル |
|
|
タイトル |
腱駆動機構における小型非線形バネ弾性要素の開発 |
|
言語 |
ja |
| タイトル |
|
|
タイトル |
Development of Small Nonlinear Spring Tensioning Device on Tendon-Driven Mechanism |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Nonlinear Spring Tensioning Device |
| キーワード |
|
|
言語 |
en |
|
主題Scheme |
Other |
|
主題 |
Tendon-Driven Mechanism |
| 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 |
departmental bulletin paper |
| ID登録 |
|
|
ID登録 |
10.34411/00000934 |
|
ID登録タイプ |
JaLC |
| 著者 |
登坂, 博和
兵頭, 和人
小林, 博明
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
When a robot moves flexibly similar to humans do, the robot must be equipped adjustable joint stiffness. This adjustment is difficult for almost robotic mechanisms because they do not have enough back-drivability nor can adjust their elasticity. On the other hand, tendon-driven mechanism has some nonlinear spring tensioning devices (NST) at end of the tendons which are necessary to implement the elasticity adjustability. However the conventional coil spring type NSTs has complicated structure. For these reasons, we develop a new smaller and simpler NST using leaf spring instead of coil spring, which is called "lNST". In this paper, first, we show structures of conventional NST and lNST for comparison. Next, calculation of its property using algebraic solution and measurement results of this device are shown. Finally we conclude the results of measurements of lNST and future works. |
|
言語 |
en |
| 書誌情報 |
神奈川工科大学研究報告.B,理工学編
巻 27,
p. 121-126,
発行日 2003-03-20
|
| 出版者 |
|
|
出版者 |
神奈川工科大学 |
| ISSN |
|
|
収録物識別子タイプ |
PISSN |
|
収録物識別子 |
09161902 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN10074179 |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 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 |
kkb-027-017.pdf (2.7 MB)
