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モータの軸受部の弾性とトルクリップルを考慮した水平2関節形ダイレクトドライブロボットの振動解析
http://hdl.handle.net/10087/2747
http://hdl.handle.net/10087/274720c90947-4a3e-4b14-857c-70b04ee28a84
名前 / ファイル | ライセンス | アクション |
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C56_1352.pdf (397.2 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-02-01 | |||||
タイトル | ||||||
タイトル | モータの軸受部の弾性とトルクリップルを考慮した水平2関節形ダイレクトドライブロボットの振動解析 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Vibration Analysis of a Horizontal Two-Link Direct-Drive Robot in Consideration of Bearing Elasticity and Torque Ripple of Motors | |||||
言語 | ||||||
言語 | jpn | |||||
その他のタイトル | ||||||
その他のタイトル | Vibration Analysis of a Horizontal Two-Link Direct-Drive Robot in Consideration of Bearing Elasticity and Torque Ripple of Motors | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Robotics | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Vibration | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Transient Response | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Mechanism | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Automatic Control | |||||
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 | journal article | |||||
著者 |
小島, 宏行
× 小島, 宏行× 桑名, 秀晴× 疋田, 嘉一× 水野, 寿考 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In a direct-drive robot, motors are directly coupled to the links without reduction gears, and high-grade control performance can be achieved. However, transient vibrations may frequently be generated owing to little friction and torque ripple of motors. In this report, the transient vibration characteristics of a horizontal two-link direct-drive robot are investigated theoretically. In the analysis, the torque characteristics are modeled in consideration of the torque ripple and the torque saturation characteristics of direct-drive motors, and the nonlinear state equation of the direct-drive robot is derived in consideration of the bearing elasticity of motors. Numerical simulation is carried out, and the effects of the torque ripple, the torque saturation characteristics and the bearing elasticity of direct-drive motors on the transient vibration characteristics of the direct-drive robot are demonstrated. | |||||
書誌情報 |
日本機械学會論文集. C編 巻 56, 号 526, p. 1352-1357, 発行日 1990-06-25 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0387-5024 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 日本機械学会 | |||||
権利 | ||||||
権利情報 | 本文データは学協会の許諾に基づきCiNiiから複製したものである | |||||
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 | |||||
出版者 | ||||||
出版者 | 日本機械学会 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | Journal Article | |||||
異版である | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/110002379438/ | |||||
更新日 | ||||||
日付 | 2017-03-27 | |||||
日付タイプ | Created |