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http://hdl.handle.net/10119/18203
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| Title: | 円筒折り紙構造を用いた軽量型ロボットアームの試作と比較検討 |
| Authors: | 楠木, 幹也
謝, 浩然 |
| Keywords: | 軽量型ロボットアーム
折り紙構造
Twisted Tower
吉村パターン
Kreslingパターン
Lightweight Robot Arm
Origami Structure
Yoshimura Pattern
Kresling Pattern |
| Issue Date: | 2022-12 |
| Publisher: | 電子情報通信学会 |
| Magazine name: | HCGシンポジウム2022 |
| Start page: | HCG2022 I-3-3 |
| Abstract: | 近年，折り紙構造を用いたロボットアームの研究が盛んに行われている．本研究では，代表的な折り紙構造の制作や性能等の特性を調査するために，Twisted Tower，吉村パターン，Kreslingパターンの３つの円筒折り紙構造の試作と比較研究を行った．結果として使いやすさ，作製時間，軽量性等において，それぞれの構造にトレードオフの関係があることが明らかになった．本研究成果は，人間拡張のため，余剰肢ロボットの軽量化への応用を期待できる．: In recent years, there has been a lot of research on robot arms using origami structures. In this study, three cylindrical origami structures (Twisted Tower, Yoshimura Pattern, and Kresling Pattern) were fabricated and compared in order to investigate the characteristics of each origami structure. The results show that there is a trade-off between each structure in terms of ease of use, fabrication time, and light weight. The results of this research are expected to be applied to supernumerary robotic limbs for human augmentation. |
| Rights: | Copyright (C)2022 IEICE. 楠木 幹也, 謝 浩然, HCGシンポジウム2022, 2022, HCG2022-I-3-3. |
| URI: | http://hdl.handle.net/10119/18203 |
| Material Type: | publisher |
| Appears in Collections: | a11-1. 会議発表論文 (Conference Papers)
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| HCG2022-I-3-3.pdf | | 638Kb | Adobe PDF | View/Open |
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