{"created":"2023-06-20T16:49:49.203043+00:00","id":22123,"links":{},"metadata":{"_buckets":{"deposit":"1845948f-ec2a-4638-b3dd-703f90cfc42e"},"_deposit":{"created_by":3,"id":"22123","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"22123"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:00022123","sets":["14:2667:4710"]},"author_link":["3106"],"control_number":"22123","item_8_biblio_info_21":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"11","bibliographicPageStart":"1","bibliographic_titles":[{"bibliographic_title":"科学研究費助成事業研究成果報告書 (2020)"}]}]},"item_8_description_25":{"attribute_name":"リンクURL","attribute_value_mlt":[{"subitem_description":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18K04068/","subitem_description_type":"Other"}]},"item_8_description_33":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"研究成果の概要（和文）：可動部に接続した複数のケーブルの長さを制御して可動部の位置と姿勢を変化させるケーブル駆動パラレルロボットは，長いケーブルを用いることで広い動作範囲を有し，スタジアムカメラの移動などに利用されている．しかしながら，可動部を回転させたときにケーブルどうしが干渉し，回転動作範囲が制限される問題がある．そこで本研究では，可動部に回転プーリを組み込み，エンドレスケーブルを用いてプーリを摩擦駆動する新たな機構により，回転プーリの無限回転を実現する新しいロボットを提案し，力学的な解析に基づいた設計方法を確立し，数値計算および基礎実験による検証を行った．研究成果の概要（英文）：A cable-driven parallel robot controls the position and orientation of its moving part by changing the length of multiple cables connected to the moving part. This type of robot has excellent characteristics of fast movement of the low weight moving part and the wide translational operating range by using a long cable. It is used for moving stadium cameras, etc. However, there is a problem that the cables interfere with each other when the movable part is rotated, and the rotational operating range is limited. In this research, we proposed a new robot that realizes infinite rotation of the rotary pulley embedded in the moving part and frictionally driving the pulley using an endless cable, and designed it based on mechanical analysis. The method was established and verified by numerical calculation and basic experiments.","subitem_description_type":"Abstract"}]},"item_8_description_36":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究種目：基盤研究(C);  研究期間：2018～2020;   課題番号：18K04068;   研究分野：ロボット機構学;   科研費の分科・細目：","subitem_description_type":"Other"}]},"item_8_description_37":{"attribute_name":"資源タイプ(WEKO2)","attribute_value_mlt":[{"subitem_description":"Research Paper","subitem_description_type":"Other"}]},"item_8_description_41":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_8_publisher_14":{"attribute_name":"出版者 名前","attribute_value_mlt":[{"subitem_publisher":"近畿大学"}]},"item_8_text_10":{"attribute_name":"著者 役割","attribute_value_mlt":[{"subitem_text_value":"研究代表者"}]},"item_8_text_7":{"attribute_name":"著者(英)","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Harada, Takashi"}]},"item_8_text_8":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"近畿大学理工学部; 教授"}]},"item_8_text_9":{"attribute_name":"著者所属(翻訳)","attribute_value_mlt":[{"subitem_text_value":"Kindai University"}]},"item_8_version_type_12":{"attribute_name":"版","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_be7fb7dd8ff6fe43","subitem_version_type":"NA"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"原田, 孝"},{"creatorName":"ハラダ, タカシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3106","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"80434851","nameIdentifierScheme":"NRID","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/search/?kw=80434851"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2021-11-08"}],"displaytype":"detail","filename":"18K04068seika.pdf","filesize":[{"value":"753.5 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"18K04068seika.pdf","url":"https://kindai.repo.nii.ac.jp/record/22123/files/18K04068seika.pdf"},"version_id":"d58e5263-74e0-44ba-b283-0142879eb340"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"知能機械","subitem_subject_scheme":"Other"},{"subitem_subject":"ケーブル駆動ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"パラレルメカニズム","subitem_subject_scheme":"Other"},{"subitem_subject":"機構解析","subitem_subject_scheme":"Other"},{"subitem_subject":"機械設計","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"ハンドの高速移動と高速無限回転を実現するケーブル駆動パラレルロボットの開発","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ハンドの高速移動と高速無限回転を実現するケーブル駆動パラレルロボットの開発","subitem_title_language":"ja"},{"subitem_title":"Development of a cable-driven parallel robot that realizes high-speed hand movement and high-speed infinite rotation","subitem_title_language":"en"}]},"item_type_id":"8","owner":"3","path":["4710"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2021-11-08"},"publish_date":"2021-11-08","publish_status":"0","recid":"22123","relation_version_is_last":true,"title":["ハンドの高速移動と高速無限回転を実現するケーブル駆動パラレルロボットの開発"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-08-11T04:09:45.417557+00:00"}