Tokyo Institute of Technology

Mechanical Systems Design Laboratory

Analysis, design, and optimization methods for mechanical motion systems and mechanical elements

(1) Kinematics/dynamic analysis of parallel mechanisms, evaluation of motion transmission performance, and mechanism synthesis

　In our laboratory, we aim to design and operate mechanisms with excellent kinematic and mechanical properties, targeting mechanisms in which end effectors are supported and driven in parallel by multiple chains (parallel mechanisms). In addition, we have conducted research on methods such as motion transmission performance evaluation, singularity analysis, synthesis of mechanism structure and quantities, mechanism calibration, stiffness analysis, and dynamic analysis, as well as mechanism design based on these methods. Currently, we are conducting research on the following topics, particularly targeting parallel mechanisms with less than 6 DOF (low DOF parallel mechanisms).

Evaluation of motion transmission performance of parallel mechanisms with low DOF

Literature

  • Xinghai Liang, Yukio Takeda: Transmission Index of a Class of Parallel Manipulators with 3-RS(SR) Primary Structures Based on Pressure Angle and Equivalent Mechanism with 2-SS Chains Replacing RS Chain, Mechanism and Machine Theory, Vol. 139, pp. 359-378, Sep., 2019.
  • Matteo Russo, Marco Ceccarelli, Yukio Takeda: Force transmission and constraint analysis of a 3-SPR parallel manipulator, Proc. IMechE, Part C: Journal of Mechanical Engineering Science, Vol. 232, pp. 4399-4409, Dec., 2018.
  • J. Brinker, B. Corves, Y. Takeda: Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices, Mechanism and Machine Theory, Vol. 125, pp. 111-125, Jul., 2018.
  • J. Brinker, B. Corves, Y. Takeda: Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots, Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017), Mechanisms and Machine Science, vol 72, pp. 119-129, 2019.
  • M.Russo, M. Ceccarelli, Y. Takeda: Comparison of motion/force transmissibility in a 3-SPR parallel manipulator and a 6-SPS equivalent mechanism, Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017), Mechanisms and Machine Science, vol 72, pp. 131-143, 2019.

Stiffness analysis of parallel mechanisms with low DOF

Literature

  • Christian Mirz, Olaf Uzsynski, Jorge Angeles, Yukio Takeda and Burkhard Corves, Stiffness Optimization of Delta Robots, In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 – Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 601. Springer, Cham, pp 396-404. https://doi.org/10.1007/978-3-030-58380-4_48.
  • Burkhard Corves, Christian Mirz, Jan Brinker, Daisuke Matsuura, Yukio Takeda: Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model, ROMANSY22 – Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium, pp. 347-354, June, 2018.

Motion and dynamics analysis and design of parallel robots with low DOF

Literature

  • Mirz, C., Hüsing, M., Takeda, Y., Corves, B. (2022). Low Cost Delta Robot for the Experimental Validation of Frame Vibration Reduction Methods. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 – Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_35.
  • Christian Mirz, Mathias Huesing, Yukio Takeda, and Burkhard Corves. (2023). Active Dynamic Balancing of Delta Robots in Pick and Place Tasks. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_26.
  • Xinghai Liang, Yukio Takeda: An iterative method for the inverse kinematics of lower-mobility parallel mechanism with three RS or SR chains based on kinematically equivalent mechanism, Mechanism and Machine Theory, Vol. 141, pp. 40-51, Nov. 2019.
  • https://doi.org/10.1016/j.mechmachtheory.2019.06.033
  • Jan Brinker, Maximilian Schmitz, Yukio Takeda, Burkhard Corves: Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures, ROMANSY22 – Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium, pp. 171-179, Jun. 2018.
  • Jan Brinker, Dominic Ring, Marco Luebbecke, Yukio Takeda, Burkhard Corves: Optimization of the Reconfiguration Planning of Cyber-Physical Production Systems with Delta-Like Architecture, Proceedings of ReMAR 2018 – International Conference on Reconfigurable Mechanisms & Robots, June, 2018.
  • Jan Brinker, Marco Luebbecke, Yukio Takeda, Burkhard Corves: Optimization of the Reconfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture, IEEE ROBOTICS AND AUTOMATION LETTERS, Vol. 2, No. 3, pp. 1802-1808, Aug. 2017.
  • J. Brinker, N. Funk, P. Ingenlath, Y. Takeda, B. Corves: Comparative Study of Serial-Parallel Delta Robots with Full Orientation Capabilities, IEEE Robotics and Automation Letters, Vol. 2, No. 2, May, 2017.

(2) Dynamic analysis considering pair gap of parallel robots

　For parallel robots with multiple spherical joints, modeling of the joint clearance considering the contact state of conjugate elements, and dynamics analysis methods using these models; And a method for identifying the joint clearance depending on the condition of the joint clearance; Research on motion planning to achieve high-precision, high-speed motion.

Literature

  • Masumi Ohno, Yukio Takeda, Dynamic analysis considering pair gap of a parallel robot with sphere pairs, Transactions of the Japan Society of Mechanical Engineers, Volume 88 (2022) No. 906, p. 21-00188, https://doi.org /10.1299/transjsme.21-00188.
  • Masumi Ohno and Yukio Takeda, Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement, Mechanism and Machine Theory, Volume 155, January 2021, https://doi.org/10.1016/j.mechmachtheory.2020.104081.
  • Masumi Ohno, Yukio Takeda: Trajectory design for detecting excessive pairwise gaps in parallel robots based on drive torque measurement, Proceedings of the 24th Robotics Symposia, March 2019.
  • Masumi Ohno, Yukio Takeda: High-speed calculation method of motion error based on a pairwise force model in a parallel robot with a pairwise gap, Transactions of the Japan Society of Mechanical Engineers, Vol. 84, No. 864, 18-00057, August 2018.

(3) Origami motion analysis model and characteristic analysis

In order to make it possible to design and develop a mechanism that can be applied to a device expanded from a compactly folded state based on the deformable origami structure, the configuration of existing origami is discussed. Modeling and analysis are conducted by taking into account deformation and interference between parts, and their characteristics are elucidated. In addition, the analysis are conducted to design and develop a multi-DOF rigid extension arm. [ detail ]

Literature

  • H. Matsuo, H. H. Asada and Y. Takeda: Design of a Novel Mutliple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2730-2737, April 2020. doi: 10.1109/LRA.2020.2970976
  • Hiroshi Matsuo, Daisuke Matsuura, Yusuke Sugawara, Yukio Takeda: Mechanistic consideration of the actual behavior of Origami Spring considering interference and deformation of members, Transactions of the Japan Society of Mechanical Engineers, Vol. 85, No. 873, April 2019.

(4) Calibration method for cable-driven system