Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda s Lab) in Tokyo Tech

Transcription

1 Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda s Lab) in Tokyo Tech Kinematic design of asymmetrical position-orientation decoupled parallel mechanism with 5 dof Pipe bender using 3-RPSR parallel mechanism with a high orientation capability and experimental investigations Flexure revolute joints with parallel leaf springs Welfare deices for walking assist and rehabilitation Contactless probing system using 3D magnetic tweezer

2 Dept. Mech. Sci. and Eng., Prof. Yukio TAKEDA Assist. Prof. Daisuke MATSUURA {takeda, Field of study: Mechanical Systems Design, Kinematics of Machinery, Machine Element, Human-Machine Interface Kinematic/Dynamic Analysis and Synthesis of Mechanisms Modeling, Simulation and Controls of Mechanical Systems Including Human Development of Machine Elements Pipe bender using parallel mechanism Walking assist machine using crutches Contactless probing system for living cell mechanical property evaluation Establishment of Theory and Simulation Design and Fabrication of High- Performance Machines

3 Robot Mechanism (Parallel Mechanisms) Manipulators Machine Tool Positioning Manipulator VR Manipulators Pipe Bender Machine Tool 11 Manipulator in Vacuum

4 Kinematic Design of Parallel Robots with Applications Kinematic Analysis, Structural and Dimensional Synthesis, Performance Evaluation such as Motion Transmissibility, Singularity Analysis, Kinematic Calibration, Machine Elements 6-DOF Mechanisms with 6 Limbs, 6-DOF Mechanisms with 3 Limbs, Position- Orientation Decoupled Mechanisms with 6/5/4/3 DOF, Wire-Driven Mechanisms, Pure Rotational/Translational Mechanisms; Flexure Joints, Rolling/Sliding Spherical Joints Pipe Bending Machine, Motion Simulator, Machine Tool, Positioning Device, Manipulator, Haptic Device Asymmetrical Position-Orientation Decoupled Parallel Mechanism with 5 dof Pipe Bender Using 6-dof Parallel Mechanism [Fabrication of frames of orthoses fitting to each user (taylormade)] Flexure Joint with 16 Leaf Springs [Parallel Robots for Space/Vacuum Environments]

5 Surgery Robot Composed of Asymmetrical Position-Orientation Decoupled Parallel Mechanism and Flexure Joints Mechanism Design, Flexure Joint with Parallel Leaf Springs Structural Synthesis of 2R3T Asymmetrical Decoupled Mechanism with 5 Dof Dimensional Synthesis Taking into Consideration Practical Workspace (Singularity and Motion Range of Joints) Prototyping and Experimental Tests with Applications + Kinematic Structure of 2R3T Parallel Mechanism Flexure Revolute Joint Minimum Invasive Surgery Robot as a Target Application 3D CAD Model Prototype

6 Development of Pipe Bender Using Parallel Mechanism Mechanism Design, Modeling of the Mechanical System Including Members with Elastic/Plastic Deformation Requirements to 3-dimensional shaped pipes Objects with a three-dimensional shape obtained by bending a straight pipe with a uniform cross section are being used as components in many applications because they contribute to mass reduction, rigidity improvement, cost reduction, design improvement. handrail in train station For writing For eating Axillary crutch Stick chair Support devices to reduce tremor effect wire puzzle

7 Development of Pipe Bender Using Parallel Mechanism Kinematic Design of Movable-Die Drive Mechanism with High Orientation Capability Design of Continuous Pipe-Feeding Mechanism Using Cam Mechanism Precise Pipe-Bending Based on Feed-Forward Compensation of Effects of d 80 Springback of Pipe and Clearances between Pipe and Dies 推定誤差 e = -1.3% e = 1.3 % 70 Estimated 0.4 curvature 加工後の Experimental Validation 60 半径 R d [mm] bent pipe movable-die drive mechanism movable die fixed die Mechanism Design, Modeling of the Mechanical System Including Members with Elastic/Plastic Deformation θ y [deg] radius straight pipe base pipe feeder Movable-Die Drive Mechanism Using 3-RPSR Parallel Mechanism with High Orientation Capability R g [mm] Estimated Curvature Radius and its Error Obtained with Experiments motion clothoid crutch 3D motion Prototype Bender (3 rd Proto, 2011) bending Pipe-Feeding Mechanism

8 Walking Assist Machines/Devices Walking/Running Machines Walking Chair Walking Assist Machine Using clutches Water Surface Running Machine

9 Mechanism Design and Control of a Simple and Low-Cost Walking Assist Machine Mechanism Design, Modeling, Simulation and Controls of the Mechanical System Including Human Structural Design of Walking Assist Machine Using Crutches for Paraplegics Structural Design of Walking Assist Machine for Hemiplegics Motion Synthesis Based on Motion Capture Data by Healthy Person Body attachment unit Fabrication of Prototypes and Their Tests p p p g g p Turning unit User Judgment of situation Operation of crutches Controller & Battery Deduction of user s intention Control of actuators Detection of danger Self-contained Harness Exoskeleton Motion generation in accordance with terrain condition and user s intention Judge Think Plan Linear actuator Crutches Ankle drive mechanism Foot plate User-centered design: Utilization of remaining physical and cognitive functions and ability Operation Sensing Visibility and safety: standing posture during locomotion Mobility: Biped locomotion strategy Minimum Cost: Composition of the exoskeleton with minimum number of actuators contributes to mass, energy and cost reduction and simple control algorithm. Basic Concept of Walking Assist Machine Using Crutches for Paraplegics Leg motion generator 1x DC motor 2x Brakes Concept: Low cost Number of actuators:1 or minimum Simplicity Utilization of user s ability (upper limb s strength) Upright posture Daily life assistance 1x DC motor Crutch unit Basic Concept of Walking Assist Machine for Hemiplegics Use of crutches operated by user Parameterized input-motion curve 1 st proto FDM Step-up Step-down small step All

10 Ankle Rehabilitation Device using Spatially Extended Oldham s Mechanism Capable of Adjusting to Change in Joint Axis Mechanism Design, Portable Design Structural Design of Mechanism Based on Oldham s Coupling Mechanism Portable Design for Adjustability Applicable to rehabilitation at home No need of adjustment to each user Easy adjustment of motion range Fault-tolerant configuration and safety with limited motion range determined by link mechanism Oldham Coupling Mechanism Prototype Mechanism Configuration where joint O is actiated and other joints are passive. This mechanism can adapt to change in axis of ankle joint Oa-xayaza without exerting unacceptable load Experimental View

11 3D-Magnetic Tweezer and Disaster response manipulator Modeling, Analysis and Design of Mechano-Electromagnetic Systems, Design of Compliant Mechanism (by Assist. Prof. Daisuke MATSUURA) 3D-MT: a mechanical property evaluation equipment for live cell experiments. Contactless probe system capable of several tenth pico-newton force exertion and subnano meter spatial resolution. Variable stiffness manipulator to establish utilization of tactile information together with visual information to identify not only obstacles shape but also their physical property to guarantee proper contact / manipulation. Coil current on each magnetic pole gains magnetomotive force. F Metal particle on/in specimen cell Principle illustration of 3D-Magnetic tweezer Vision-based sensor Is this safe? 乗っても平気?? Visual sensing + Force-Displacement relationship Safe, ここは大丈夫 indeed! Haptic sensing Variable stiffness manipulator for disaster response robots to achieve haptic sensing Mechanical property evaluation Optical image of cytoskeleton External force Angular displacement Torque due to F J 1 Variable stiffness shoulder joint J 2 J 3 External force Trajectory tracking control by prototype 3D-MT Prototype variable stiffness manipulators aiming to achieve high dynamic range of force measurement and output force regulation