- 開講元
- 機械コース
- 担当教員名
- KUO CHIN-HSING
- 授業形態
- 講義
- メディア利用科目
- 曜日・時限(講義室)
- -
- クラス
- -
- 科目コード
- MEC.N531
- 単位数
- 1
- 開講年度
- 2017年度
- 開講クォーター
- 1-2Q
- シラバス更新日
- 2017年7月5日
- 講義資料更新日
- -
- 使用言語
- 英語
- アクセスランキング
-
media
講義の概要とねらい
When a mechanism or robot is statically balanced, it can move without operating effort. This feature is practically useful in various applications in, for example, industrial robots, space engineering, rehabilitation, and medicine. This lecture will introduce the static balancing techniques, particularly by using springs, for mechanisms and robots and their sampled applications. Some open challenges for statically balanced mechanisms design will be discussed as well.
到達目標
Learn about balancing design methods for serial and parallel manipulators, based on real springs and special mechanisms.
キーワード
Robotics, Mechanism, Spring Balancing
学生が身につける力(ディグリー・ポリシー)
| ✔ 専門力 | ✔ 教養力 | コミュニケーション力 | 展開力(探究力又は設定力) | ✔ 展開力(実践力又は解決力) |
授業の進め方
After lectures on the basic topics, project problem is give. Evaluation will be done based on the presentations on project.
授業計画・課題
| 授業計画 | 課題 | |
|---|---|---|
| 第1回 | Introduction and project descriptions | Introduction and project descriptions |
| 第2回 | Spring method: Fundamentals | Spring method: Fundamentals |
| 第3回 | Balancing design for serial manipulators | Balancing design for serial manipulators |
| 第4回 | Balancing design for parallel manipulators | Balancing design for parallel manipulators |
| 第5回 | Balancing design based on real springs and special mechanisms | Balancing design based on real springs and special mechanisms |
| 第6回 | Advanced topics on Energy-free adjustment, Balancing under variable payloads, Reconfigurable balancing | Advanced topics on Energy-free adjustment, Balancing under variable payloads, Reconfigurable balancing |
| 第7回 | Project presentation | Project presentation |
教科書
No textbook is used.
参考書、講義資料等
Special texts will be used, which are provided through OCW-i.
成績評価の基準及び方法
After lectures on the basic topics, project problem is give. Evaluation will be done based on the presentations on project.
関連する科目
- MEC.H532 ： ロボット総合論
履修の条件(知識・技能・履修済科目等)
The 1-credit course is suitable for graduate students and senior undergraduate students who have background in kinematics of mechanisms.
