{"id":334,"date":"2024-02-21T11:46:30","date_gmt":"2024-02-21T02:46:30","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/?page_id=334"},"modified":"2024-03-03T09:58:37","modified_gmt":"2024-03-03T00:58:37","slug":"%e6%a9%9f%e6%a2%b0%e9%81%8b%e5%8b%95%e3%82%b7%e3%82%b9%e3%83%86%e3%83%a0%e3%83%bb%e6%a9%9f%e6%a2%b0%e8%a6%81%e7%b4%a0%e3%81%ae%e8%a7%a3%e6%9e%90%e3%83%bb%e8%a8%ad%e8%a8%88%e3%83%bb%e6%9c%80%e9%81%a9","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/%e6%a9%9f%e6%a2%b0%e9%81%8b%e5%8b%95%e3%82%b7%e3%82%b9%e3%83%86%e3%83%a0%e3%83%bb%e6%a9%9f%e6%a2%b0%e8%a6%81%e7%b4%a0%e3%81%ae%e8%a7%a3%e6%9e%90%e3%83%bb%e8%a8%ad%e8%a8%88%e3%83%bb%e6%9c%80%e9%81%a9\/","title":{"rendered":"\u6a5f\u68b0\u904b\u52d5\u30b7\u30b9\u30c6\u30e0\u30fb\u6a5f\u68b0\u8981\u7d20\u306e\u89e3\u6790\u30fb\u8a2d\u8a08\u30fb\u6700\u9069\u5316\u624b\u6cd5"},"content":{"rendered":"\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>(1) <\/strong><strong>\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u904b\u52d5\u5b66\u30fb\u52d5\u529b\u5b66\u89e3\u6790\uff0c\u904b\u52d5\u4f1d\u9054\u6027\u306e\u8a55\u4fa1\u304a\u3088\u3073\u6a5f\u69cb\u7dcf\u5408<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000\u5f53\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u304c\u8907\u6570\u306e\u9023\u9396\u306b\u3088\u308a\u4e26\u5217\u306b\u652f\u6301\u30fb\u99c6\u52d5\u3055\u308c\u308b\u6a5f\u69cb\uff08\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\uff09\u3092\u5bfe\u8c61\u3068\u3057\u3066\uff0c\u904b\u52d5\u5b66\u7684\u304a\u3088\u3073\u529b\u5b66\u7684\u306b\u512a\u308c\u305f\u7279\u6027\u3092\u6709\u3059\u308b\u6a5f\u69cb\u306e\u8a2d\u8a08\u3068\u904b\u7528\u3092\u53ef\u80fd\u3068\u3059\u308b\u305f\u3081\u306b\uff0c\u904b\u52d5\u4f1d\u9054\u6027\u306e\u8a55\u4fa1\uff0c\u7279\u7570\u70b9\u89e3\u6790\uff0c\u6a5f\u69cb\u306e\u69cb\u9020\u304a\u3088\u3073\u91cf\u306e\u7dcf\u5408\uff0c\u6a5f\u69cb\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\uff0c\u525b\u6027\u89e3\u6790\uff0c\u52d5\u529b\u5b66\u89e3\u6790\u306a\u3069\u306e\u624b\u6cd5\u304a\u3088\u3073\u3053\u308c\u3089\u306b\u57fa\u3065\u304f\u6a5f\u69cb\u8a2d\u8a08\u306b\u3064\u3044\u3066\u7814\u7a76\u3092\u884c\u3063\u3066\u304d\u307e\u3057\u305f\uff0e\u73fe\u5728\u306f\uff0c\u7279\u306b\uff0c6\u81ea\u7531\u5ea6\u672a\u6e80\u306e\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\uff08\u4f4e\u81ea\u7531\u5ea6\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\uff09\u3092\u5bfe\u8c61\u3068\u3057\u3066\uff0c\u6b21\u306e\u5185\u5bb9\u306b\u3064\u3044\u3066\u7814\u7a76\u3092\u884c\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f4e\u81ea\u7531\u5ea6\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u904b\u52d5\u4f1d\u9054\u6027\u306e\u8a55\u4fa1<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Xinghai Liang, Yukio Takeda: Transmission Index of a Class of Parallel Manipulators with 3-RS(SR) Primary Structures Based on Pressure Angle and Equivalent Mechanism with 2-SS Chains Replacing RS Chain, Mechanism and Machine Theory, Vol. 139, pp. 359-378, Sep., 2019.<\/li>\n\n\n\n<li>Matteo Russo, Marco Ceccarelli, Yukio Takeda: Force transmission and constraint analysis of a 3-SPR parallel manipulator, Proc. IMechE, Part C: Journal of Mechanical Engineering Science, Vol. 232, pp. 4399-4409, Dec., 2018.<\/li>\n\n\n\n<li>J. Brinker, B. Corves, Y. Takeda: Kinematic performance evaluation of high-speed Delta parallel robots based on motion\/force transmission indices, Mechanism and Machine Theory, Vol. 125, pp. 111-125, Jul., 2018.<\/li>\n\n\n\n<li>J. Brinker, B. Corves, Y. Takeda: Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots, Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics &amp; Mechatronics (ISRM 2017), Mechanisms and Machine Science, vol 72, pp. 119-129, 2019.<\/li>\n\n\n\n<li>M.Russo, M. Ceccarelli, Y. Takeda: Comparison of motion\/force transmissibility in a 3-SPR parallel manipulator and a 6-SPS equivalent mechanism, Proceeding of the Fifth IFToMM International Symposium on Robotics &amp; Mechatronics (ISRM 2017), Mechanisms and Machine Science, vol 72, pp. 131-143, 2019.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f4e\u81ea\u7531\u5ea6\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u525b\u6027\u89e3\u6790<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Christian Mirz, Olaf Uzsynski, Jorge Angeles, Yukio Takeda and Burkhard Corves, Stiffness Optimization of Delta Robots, In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 &#8211; Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 601. Springer, Cham, pp 396-404. https:\/\/doi.org\/10.1007\/978-3-030-58380-4_48.<\/li>\n\n\n\n<li>Burkhard Corves, Christian Mirz, Jan Brinker, Daisuke Matsuura, Yukio Takeda: Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model, ROMANSY22 &#8211; Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium, pp. 347-354, June, 2018.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f4e\u81ea\u7531\u5ea6\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u30fb\u52d5\u529b\u5b66\u89e3\u6790\u3068\u8a2d\u8a08<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Mirz, C., H\u00fcsing, M., Takeda, Y., Corves, B. (2022). Low Cost Delta Robot for the Experimental Validation of Frame Vibration Reduction Methods. In: Kecskem\u00e9thy, A., Parenti-Castelli, V. (eds) ROMANSY 24 &#8211; Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https:\/\/doi.org\/10.1007\/978-3-031-06409-8_35.<\/li>\n\n\n\n<li>Christian Mirz, Mathias Huesing, Yukio Takeda, and Burkhard Corves. (2023). Active Dynamic Balancing of Delta Robots in Pick and Place Tasks. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https:\/\/doi.org\/10.1007\/978-3-031-45770-8_26.<\/li>\n\n\n\n<li>Xinghai Liang, Yukio Takeda: An iterative method for the inverse kinematics of lower-mobility parallel mechanism with three RS or SR chains based on kinematically equivalent mechanism, Mechanism and Machine Theory, Vol. 141, pp. 40-51, Nov. 2019.<\/li>\n\n\n\n<li>https:\/\/doi.org\/10.1016\/j.mechmachtheory.2019.06.033<\/li>\n\n\n\n<li>Jan Brinker, Maximilian Schmitz, Yukio Takeda, Burkhard Corves: Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures, ROMANSY22 &#8211; Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium, pp. 171-179, Jun. 2018.<\/li>\n\n\n\n<li>Jan Brinker, Dominic Ring, Marco Luebbecke, Yukio Takeda, Burkhard Corves: Optimization of the Reconfiguration Planning of Cyber-Physical Production Systems with Delta-Like Architecture, Proceedings of ReMAR 2018 &#8211; International Conference on Reconfigurable Mechanisms &amp; Robots, June, 2018.<\/li>\n\n\n\n<li>Jan Brinker, Marco Luebbecke, Yukio Takeda, Burkhard Corves: Optimization of the Reconfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture, IEEE ROBOTICS AND AUTOMATION LETTERS, Vol. 2, No. 3, pp. 1802-1808, Aug. 2017.<\/li>\n\n\n\n<li>J. Brinker, N. Funk, P. Ingenlath, Y. Takeda, B. Corves: Comparative Study of Serial-Parallel Delta Robots with Full Orientation Capabilities, IEEE Robotics and Automation Letters, Vol. 2, No. 2, May, 2017.<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>(2) <\/strong><strong>\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u5bfe\u5076\u3059\u304d\u307e\u3092\u8003\u616e\u3057\u305f\u52d5\u529b\u5b66\u89e3\u6790<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000\u7403\u9762\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u8907\u6570\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u3092\u5bfe\u8c61\u3068\u3057\u3066\uff0c\u5bfe\u5076\u7d20\u306e\u63a5\u89e6\u72b6\u614b\u3092\u8003\u616e\u3057\u305f\u5bfe\u5076\u3059\u304d\u307e\u306e\u30e2\u30c7\u30eb\u5316\u304a\u3088\u3073\u3053\u308c\u3089\u3092\u7528\u3044\u305f\u52d5\u529b\u5b66\u89e3\u6790\u624b\u6cd5\uff0c\u3053\u308c\u306b\u57fa\u3065\u304f\u5bfe\u5076\u3059\u304d\u307e\u306e\u540c\u5b9a\u624b\u6cd5\uff0c\u5bfe\u5076\u3059\u304d\u307e\u306e\u72b6\u614b\u306b\u5fdc\u3058\u305f\u9ad8\u7cbe\u5ea6\u30fb\u9ad8\u901f\u904b\u52d5\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u306e\u904b\u52d5\u8a08\u753b\u306a\u3069\u306b\u95a2\u3059\u308b\u7814\u7a76\u3092\u884c\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>\u5927\u91ce\u3000\u771f\u6f84\uff0c\u6b66\u7530\u884c\u751f\uff0c\u7403\u5bfe\u5076\u3092\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306e\u5bfe\u5076\u3059\u304d\u307e\u3092\u8003\u616e\u3057\u305f\u52d5\u529b\u5b66\u89e3\u6790\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6\uff0c88 \u5dfb (2022) 906 \u53f7\uff0cp. 21-00188, https:\/\/doi.org\/10.1299\/transjsme.21-00188.<\/li>\n\n\n\n<li>Masumi Ohno and Yukio Takeda, Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement, Mechanism and Machine Theory, Volume 155, January 2021, https:\/\/doi.org\/10.1016\/j.mechmachtheory.2020.104081.<\/li>\n\n\n\n<li>\u5927\u91ce\u771f\u6f84, \u6b66\u7530\u884c\u751f\uff1a\u99c6\u52d5\u30c8\u30eb\u30af\u6e2c\u5b9a\u306b\u57fa\u3065\u304f\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306b\u304a\u3051\u308b\u904e\u5927\u306a\u5bfe\u5076\u3059\u304d\u9593\u306e\u691c\u51fa\u306e\u305f\u3081\u306e\u8ecc\u9053\u8a2d\u8a08\uff0c\u7b2c24\u56de\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30b7\u30f3\u30dd\u30b8\u30a2\u8b1b\u6f14\u8ad6\u6587\u96c6\uff0c2019\u5e743\u6708\uff0e<\/li>\n\n\n\n<li>\u5927\u91ce\u771f\u6f84, \u6b66\u7530\u884c\u751f\uff1a\u5bfe\u5076\u3059\u304d\u9593\u3092\u6709\u3059\u308b\u30d1\u30e9\u30ec\u30eb\u30ed\u30dc\u30c3\u30c8\u306b\u304a\u3051\u308b\u5bfe\u5076\u4f5c\u7528\u529b\u30e2\u30c7\u30eb\u306b\u57fa\u3065\u304f\u904b\u52d5\u8aa4\u5dee\u306e\u9ad8\u901f\u8a08\u7b97\u6cd5\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6\uff0c84\u5dfb864\u53f7\uff0c18-00057, 2018\u5e748\u6708\uff0e<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>(3) <\/strong><strong>\u6298\u308a\u7d19\u306e\u904b\u52d5\u89e3\u6790\u30e2\u30c7\u30eb\u3068\u7279\u6027\u89e3\u6790<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5909\u5f62\u53ef\u80fd\u306a\u6298\u308a\u7d19\u306e\u69cb\u9020\u3092\u3082\u3068\u306b\u3057\u3066\uff0c\u30b3\u30f3\u30d1\u30af\u30c8\u306b\u6298\u308a\u7573\u307e\u308c\u305f\u72b6\u614b\u304b\u3089\u5927\u304d\u304f\u4f38\u5c55\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u88c5\u7f6e\u306b\u9069\u7528\u53ef\u80fd\u306a\u6a5f\u69cb\u3092\u8a2d\u8a08\u30fb\u958b\u767a\u3059\u308b\u3053\u3068\u3092\u53ef\u80fd\u3068\u3059\u308b\u305f\u3081\u306b\uff0c\u65e2\u5b58\u306e\u6298\u308a\u7d19\u306b\u3064\u3044\u3066\uff0c\u69cb\u6210\u90e8\u6750\u306e\u5909\u5f62\u3084\u90e8\u6750\u9593\u306e\u5e72\u6e09\u306a\u3069\u3092\u8003\u616e\u3057\u305f\u30e2\u30c7\u30eb\u5316\u30fb\u89e3\u6790\u3092\u884c\u3044\uff0c\u305d\u306e\u7279\u6027\u89e3\u660e\u3092\u884c\u3063\u3066\u3044\u307e\u3059\uff0e\u307e\u305f\uff0c\u305d\u306e\u89e3\u6790\u3092\u9069\u7528\u3057\u591a\u81ea\u7531\u5ea6\u525b\u4f53\u4f38\u5c55\u30a2\u30fc\u30e0\u3092\u8a2d\u8a08\u30fb\u958b\u767a\u3057\u3066\u3044\u307e\u3059\uff0e&nbsp;<a href=\"https:\/\/hiroshi-matsuo.wixsite.com\/website\"><strong>[<\/strong><strong>\u8a73\u7d30<\/strong><strong>]<\/strong><\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\n<li>H. Matsuo, H. H. Asada and Y. Takeda: Design of a Novel Mutliple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2730-2737, April 2020. doi: 10.1109\/LRA.2020.2970976<\/li>\n\n\n\n<li>\u677e\u5c3e \u535a\u53f2, \u677e\u6d66 \u5927\u8f14, \u83c5\u539f \u96c4\u4ecb, \u6b66\u7530 \u884c\u751f\uff1a\u90e8\u6750\u306e\u5e72\u6e09\u3068\u5909\u5f62\u3092\u8003\u616e\u3057\u305fOrigami Spring\u306e\u5b9f\u6319\u52d5\u306e\u6a5f\u69cb\u5b66\u7684\u8003\u5bdf\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u8ad6\u6587\u96c6\uff0c85\u5dfb873\u53f7\uff0c2019\u5e744\u6708\uff0e<\/li>\n<\/ul>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>(4) <\/strong><strong>\u30ef\u30a4\u30e4\u99c6\u52d5\u7cfb\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u624b\u6cd5<\/strong><strong><\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"<p>(1) 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