Teruyuki Izumi

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It is important to minimize the energy dissipated by the reduction gears and motors in a three-jointed vertically articulated manipulator. This paper proposes an optimal design method for simultaneously determining eight design variables, which are three motor masses, three reduction gear ratios, a counterbalancer mass for the third link and an offset(More)
This paper describes a hammering robot with a flexible link which can hit an object from an arbitrary direction in a 3-D space. A dynamical equation of a flexible link hammer is presented by taking gravity into consideration. The conditions that the hammer can strike an object flatwise with only a normal velocity to its face are investigated. And a(More)
In order to help reduce global warming, it is important to design even for a vertically articulated manipulator with 3 joints so that the dissipated energy of running gears with motor can be minimized. This paper proposes an optimal design method for simultaneously determining 8 design variables, which are the 3 motor masses, the 3 reduction gear ratios,(More)
Energy conservation is a current requirement in the industry. This paper discusses an energy-optimal planning of a servo system, which is driven by a DC motor and a reduction gear. Controllable energy loss, such as Joule loss, Coulomb friction loss and viscous friction loss can be expressed by crossing time t<sub>c</sub>, when the input torque of the(More)