{"created":"2024-10-24T05:30:45.034638+00:00","id":2001898,"links":{},"metadata":{"_buckets":{"deposit":"5639436e-3628-400f-8295-96a2bfb206be"},"_deposit":{"created_by":42,"id":"2001898","owners":[42],"pid":{"revision_id":0,"type":"depid","value":"2001898"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:02001898","sets":["14:2667:1728522335637:1728523622287"]},"author_link":[],"control_number":"2001898","item_1693381679919":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"=資源タイプ識別子":"http://purl.org/coar/resource_type/c_93fc","resourcetype":"report","resourceuri":"http://purl.org/coar/resource_type/c_93fc"}]},"item_30001_bibliographic_information17":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicNumberOfPages":"10","bibliographic_titles":[{"bibliographic_title":"科学研究費助成事業研究成果報告書 (2023)","bibliographic_titleLang":"ja"}]}]},"item_30001_creator2":{"attribute_name":"研究代表者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"34419","affiliationNameIdentifierScheme":"kakenhi"}],"affiliationNames":[{"affiliationName":"近畿大学","affiliationNameLang":"ja"},{"affiliationName":"Kindai University","affiliationNameLang":"en"}]}],"creatorNames":[{"creatorName":"原田, 孝","creatorNameLang":"ja"},{"creatorName":"Harada, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"80434851","nameIdentifierScheme":"e-Rad_Researcher"}]}]},"item_30001_description8":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"顕微鏡下手術や航空機エンジン内部の点検保守などの狭い環境内で動作する極小サイズで動作範囲の広い空間6自由度ミニチュアパラレルの開発を目的とする．2組のパラレルロボットの出力節間に差動ネジ機構などの付加回転機構を搭載し，ミニチュア化のために出力節そのものを傾斜させて全ての受動対偶を球面対偶とするロボット機構を考案した．直径2mmの極小径差動ネジ機構の設計試作，出力節傾斜機構を有するパラレルロボットの機構解析，設計試作および制御に取り組み，特許出願を行うと共に，IEEE ROBIO2023 Robotica Best Paper Award，日本機械学会ROBOMECH表彰などを受賞した．","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"This project aims to develop a spatial 6-DOF miniature parallel robot with an extremely small size and a wide operating range that can operate in confined environments such as surgery under a microscope and inspection and maintenance inside aircraft engines. A robot mechanism was devised in which all passive pairs are compact spherical joints, and the output nodes are directly tilted by the novel parallel mechanism for miniaturization. We designed and built a prototype of an ultra-small differential screw mechanism with a diameter of 2 mm, and conducted mechanism analysis, design and control of a parallel robot with an output node tilting mechanism, and submit a patent. Our research received the IEEE ROBIO2023 Robotica Best Paper Award and the Japan Society of Mechanical Engineers ROBOMECH Award.","subitem_description_language":"en","subitem_description_type":"Abstract"},{"subitem_description":"研究分野：機構学・機械力学","subitem_description_language":"ja","subitem_description_type":"Other"}]},"item_30001_file22":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","filename":"21K03987seika.pdf","filesize":[{"value":"8.3 MB"}],"format":"application/pdf","mimetype":"application/pdf","url":{"url":"https://kindai.repo.nii.ac.jp/record/2001898/files/21K03987seika.pdf"},"version_id":"638d9570-ef4c-4d62-aa14-7f98bc714408"}]},"item_30001_funding_reference15":{"attribute_name":"助成情報","attribute_value_mlt":[{"subitem_award_numbers":{"subitem_award_number":"21K03987","subitem_award_uri":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21K03987/"},"subitem_award_titles":[{"subitem_award_title":"極小径超長リード差動ネジ機構を搭載する広可動域ミニチュアパラレルロボットの開発","subitem_award_title_language":"ja"},{"subitem_award_title":"Development of a wide range of motion miniature parallel robot equipped with a ultra small diameter and ultra long lead differential screw mechanism","subitem_award_title_language":"en"}],"subitem_funder_names":[{"subitem_funder_name":"独立行政法人日本学術振興会","subitem_funder_name_language":"ja"},{"subitem_funder_name":"Japan Society for the Promotion of Science","subitem_funder_name_language":"en"}]}]},"item_30001_language10":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_30001_subject7":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"パラレルロボット","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"機構設計","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"機構解析","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"スクリュー理論","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"マルチボディダイナミクス","subitem_subject_language":"ja","subitem_subject_scheme":"Other"}]},"item_30001_title0":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"極小径超長リード差動ネジ機構を搭載する広可動域ミニチュアパラレルロボットの開発","subitem_title_language":"ja"},{"subitem_title":"Development of a wide range of motion miniature parallel robot equipped with a ultra small diameter and ultra long lead differential screw mechanism","subitem_title_language":"en"}]},"item_30001_version_type12":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_title":"極小径超長リード差動ネジ機構を搭載する広可動域ミニチュアパラレルロボットの開発","item_type_id":"40001","owner":"42","path":["1728523622287"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-10-24"},"publish_date":"2024-10-24","publish_status":"0","recid":"2001898","relation_version_is_last":true,"title":["極小径超長リード差動ネジ機構を搭載する広可動域ミニチュアパラレルロボットの開発"],"weko_creator_id":"42","weko_shared_id":-1},"updated":"2024-11-25T02:35:27.201926+00:00"}