多自由度球面同期アクチュエータの定電力下における静特性評価手法の提案

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2016/11/01

タイトル(英語): Evaluation Method for Multi-Degree-of-Freedom Spherical Electromagnetic Synchronous Actuators under Constant Power

著者名: 高原　一晶（大阪大学大学院工学研究科 知能・機能創成工学専攻），平田　勝弘（大阪大学大学院工学研究科 知能・機能創成工学専攻），新口　昇（大阪大学大学院工学研究科 知能・機能創成工学専攻），西浦　悠介（大阪大学大学院工学研究科 知能・機能創成工学専攻），堺谷　洋（大阪大学大学院工学研究科 知能・機能創成工学専攻），藤原　優文（大阪大学大学院工学研究科 知能・機能創成工学専攻）

著者名(英語): Kazuaki Takahara (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University), Katsuhiro Hirata (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University), Noboru Niguchi (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University), Yusuke Nishiura (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University), Yo Sakaidani (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University), Masafumi Fujiwara (Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University)

キーワード: 多自由度，球面アクチュエータ，静特性，評価　　multi degree of freedom，spherical actuator，static characteristics，evaluation

要約(英語): Multi-degree-of-freedom (multi-DOF) actuators have been developed for the fields of robotics and industrial machinery. However, evaluation methods for the multi-DOF actuators have not been proposed. In order to evaluate the characteristics of the actuators, an evaluation method based on a torque equation and singular value decomposition is proposed. The evaluation method can be used to evaluate the torque characteristics using a torque area that is composed of an absolute torque and its direction. Finally, the static torque characteristics of some previously developed multi-DOF actuators are evaluated using the proposed evaluation method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.136 No.11 （2016）

本誌掲載ページ: 907-912 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/136/11/136_907/_article/-char/ja/