Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda’s Lab) in Tokyo Tech

• Kinematic design of asymmetrical position-orientation decoupled parallel mechanism with 5 dof

• Pipe bender using 3-RPSR parallel mechanism with a high orientation capability and experimental investigations

• Flexure revolute joints with parallel leaf springs• Welfare deices for walking assist and rehabilitation• Contactless probing system using 3D magnetic tweezer

Dept. Mech. Sci. and Eng., Lab. Mechanical Systems DesignProf. Yukio TAKEDAAssist. Prof. Daisuke MATSUURA {takeda, matsuura}@mech.titech.ac.jp

http://www.mech.titech.ac.jp/~msd/

Establishment of Theory and SimulationDesign and Fabrication of High-Performance Machines

Pipe bender using parallel mechanism Walking assistmachine using crutches

Contactless probing system for living cell mechanical property evaluation

Field of study: Mechanical Systems Design, Kinematics of Machinery, Machine Element, Human-Machine Interface

Kinematic/Dynamic Analysis and Synthesis of Mechanisms Modeling, Simulation and Controls of Mechanical Systems Including Human Development of Machine Elements

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Robot Mechanism (Parallel Mechanisms)

Manipulators Machine Tool Positioning Manipulator VR

Manipulators

Pipe Bender Machine Tool Manipulator in Vacuum

Kinematic Design of Parallel Robots with ApplicationsLab. Mechanical Systems Design

Kinematic Analysis, Structural and Dimensional Synthesis, Performance Evaluation such as Motion Transmissibility, Singularity Analysis, Kinematic Calibration, Machine Elements

6-DOF Mechanisms with 6 Limbs, 6-DOF Mechanisms with 3 Limbs, Position-Orientation Decoupled Mechanisms with 6/5/4/3 DOF, Wire-Driven Mechanisms, Pure Rotational/Translational Mechanisms; Flexure Joints, Rolling/Sliding Spherical Joints

Pipe Bending Machine, Motion Simulator, Machine Tool, Positioning Device, Manipulator, Haptic Device

Asymmetrical Position-Orientation Decoupled Parallel Mechanism with 5 dof

Pipe Bender Using 6-dof Parallel Mechanism[Fabrication of frames of orthoses fitting to each user (taylormade)]

Flexure Joint with 16 Leaf Springs[Parallel Robots for Space/Vacuum Environments]

Surgery Robot Composed of Asymmetrical Position-Orientation Decoupled Parallel Mechanism and Flexure Joints

Structural Synthesis of 2R3T Asymmetrical Decoupled Mechanism with 5 Dof Dimensional Synthesis Taking into Consideration Practical Workspace (Singularity

and Motion Range of Joints) Prototyping and Experimental Tests with Applications

Minimum Invasive Surgery Robot as a Target Application

Lab. Mechanical Systems Design Mechanism Design, Flexure Joint with Parallel Leaf Springs

＋ →

Kinematic Structure of 2R3T Parallel Mechanism Flexure Revolute Joint

3D CAD Model Prototype

Development of Pipe Bender Using Parallel Mechanism

Requirements to 3-dimensional shaped pipesObjects with a three-dimensional shape obtained by bending a straight pipe with a uniform cross section are being used as components in many applications because they contribute to mass reduction, rigidity improvement, cost reduction, design improvement.

Lab. Mechanical Systems DesignMechanism Design, Modeling of the Mechanical System Including Members with Elastic/Plastic Deformation

handrail in train station

chair

Axillary crutch

wire puzzleSupport devices to reduce tremor effect

StickFor writing

For eating

Development of Pipe Bender Using Parallel Mechanism

Kinematic Design of Movable-Die Drive Mechanism with High Orientation Capability Design of Continuous Pipe-Feeding Mechanism Using Cam Mechanism Precise Pipe-Bending Based on Feed-Forward Compensation of Effects of

Springback of Pipe and Clearances between Pipe and Dies Experimental Validation

Movable-Die Drive Mechanism Using 3-RPSR Parallel Mechanism with High Orientation Capability

bent pipe

pipe feeder

fixed die

movable diemovable-die drive mechanism

straight pipe

base

3040

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d

20 40 60 80 100 120 1400

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80推定誤差 e = 1.3 %

0.1 0.2

0.2

13.3

0.4

0.5 1.8 1.0

4.4

4.5 2.2

加工後の半径Rd [mm]

Rg [mm]

θ y[d

eg]

e = -1.3% Estimated curvature radius

Estimated Curvature Radius and its Error Obtained with Experiments

Prototype Bender (3rd Proto, 2011) Pipe-Feeding Mechanism

motion clothoid crutch 3D motion

bending

Lab. Mechanical Systems DesignMechanism Design, Modeling of the Mechanical System Including Members with Elastic/Plastic Deformation

Walking Assist Machines/DevicesWalking/Running Machines

Walking Chair Walking Assist Machine Using clutches

Water Surface Running Machine

Mechanism Design and Control of a Simple and Low-Cost Walking Assist Machine

Structural Design of Walking Assist Machine Using Crutches for Paraplegics Structural Design of Walking Assist Machine for Hemiplegics Motion Synthesis Based on Motion Capture Data by Healthy Person Fabrication of Prototypes and Their Tests

Basic Concept of Walking Assist Machine Using Crutchesfor Paraplegics

p p p g g p

UserJudgment of situationOperation of crutches

Controller & BatteryDeduction of user’s intentionControl of actuatorsDetection of dangerSelf-contained

Linear actuator

Ankle drive mechanismFoot plate

Crutches

Harness

Minimum Cost: Composition of the exoskeleton with minimum number of actuators contributes to mass, energy and cost reduction and simple control algorithm.

ExoskeletonMotion generation inaccordance with terrain condition and user’s intention

User-centered design: Utilization of remaining physical and cognitive functions and ability

Mobility: Biped locomotion strategy

JudgeThinkPlan

Operation

Sensing

Visibility and safety: standing posture during locomotion

Concept: Low cost Simplicity Utilization of user’s ability (upper limb’s strength) Upright posture Daily life assistance

Number of actuators:1 or minimum

Use of crutches operated by userParameterized input-motion curve

Lab. Mechanical Systems Design

1st proto FDM Step-up Step-down small step All

Body attachment unit

Turning unit

Crutch unit

Leg motiongenerator

1x DC motor2x Brakes 1x DC motor

Basic Concept of Walking Assist Machine for Hemiplegics

Mechanism Design, Modeling, Simulation and Controls of the Mechanical System Including Human

Ankle Rehabilitation Device using Spatially Extended Oldham’s Mechanism Capable of Adjusting to Change in Joint Axis

Structural Design of Mechanism Based on Oldham’s Coupling Mechanism Portable Design for Adjustability

Mechanism Configuration where joint O is actiated and other joints are passive. This mechanism can adapt to change in axis of ankle joint Oa-xayaza without exerting unacceptable load

Lab. Mechanical Systems Design Mechanism Design, Portable Design

Applicable to rehabilitation at home No need of adjustment to each user Easy adjustment of motion range Fault-tolerant configuration and safety with limited

motion range determined by link mechanism

Oldham Coupling MechanismPrototype

Experimental View

3D-Magnetic Tweezer and Disaster response manipulator

Lab. Mechanical Systems Design (by Assist. Prof. Daisuke MATSUURA)

3D-MT: a mechanical property evaluation equipment for live cell experiments. Contactless probe system capable of several tenth pico-Newton force exertion and sub-

nano meter spatial resolution. Variable stiffness manipulator to establish utilization of tactile information together with

visual information to identify not only obstacles shape but also their physical property to guarantee proper contact / manipulation.

Modeling, Analysis and Design of Mechano-Electromagnetic Systems, Design of Compliant Mechanism

Prototype variable stiffness manipulators aiming to achieve high dynamic range of force measurement and output force regulation

Coil current on each magnetic pole gains magnetomotive force.

Metal particle on/in specimen cellMetal particle on/in specimen cell

F

Variable stiffness manipulator for disaster response robots to achieve haptic sensing Principle illustration of 3D-Magnetic tweezer

Trajectory tracking control by prototype 3D-MT

Optical image of cytoskeleton

Mechanical property

evaluation

Vision-based sensor

乗っても平気??ここは大丈夫

Force-Displacement relationship

Is this safe?Safe, indeed!

+Visual sensing Haptic sensing

External force

Variable stiffness shoulder joint

J1

J2

J3

Torque due to FAngular

displacement

External force