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第11回工学院特別セミナー「From planar to spatial mechanisms. Some design criteria of parallel robots」

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工学院では、著名な講師の方々をお招きして、特別セミナーを開催しています。

今回は、バスク大学(University of the Basque Country)のAlfonso Hernández Frías教授およびVíctor Petuya准教授にご講演いただきます。

日時
2019年1月21日(月)17:00 - 18:30
場所
東京工業大学 大岡山キャンパス 本館4階 第1会議室

講演概要

The kinematic radiography of a machine is a mechanism, and a mechanism is nothing more than a set of geometric constraints. From this approach, it is easier to present the concept of mobility applied to a mechanism, to a kinematic pair, or to an element of a mechanism. In fact, there is a very special element in a mechanism that is the coupler, end-effector or mobile platform, which is the one that define the application of the mechanism. But, to know the number of degrees of freedom of the end-effector is not enough. More complete information about its motion capability is given by the so-called motion pattern. The motion pattern is, in general, an instantaneous characteristic. It depends on the mobile platform pose. However, the morphological or structural synthesis allows designing parallel manipulators with permanent motion pattern along the workspace, which is a great technical benefit.

A singularity analysis detects those configurations where the robot can suffer a loss of local mobility, the blocking of an element, or losing control. Except for very particular applications, singularities are non-desired configurations. Therefore, the job of the engineer is oriented to size the robot so that it operates in a wide, regular and free of singularities workspace.

Using the GIM softwareouter, some planar and spatial mechanisms will be modelled to illustrate the theoretical concepts revised during the lecture.

講演者の紹介

Professor Alfonso Hernández Frías
Professor Alfonso Hernández Frías

Alfonso Hernández Frías has been Professor of Mechanical Engineering since 1995 in the Department of Mechanical Engineering of the University of the Basque Country at the Faculty of Engineering of Bilbao. He has published several books and monographs on the Kinematics and Dynamics of Machines. He is co-author of a free software (GIM) for kinematic and dynamic analysis of mechanisms, with downloads in more than 560 institutions from a total of about 90 different countries. He has about 200 scientific publications, mainly in journals in the field of Robotics and Mechanisms. Along his career he has participated in numerous research projects and contracts with companies. Currently he chairs the Spanish group of the IFToMM and the technical committee of Robotics and Mechanisms of the Ibero-American Federation of Mechanical Engineering.

Associate Professor Víctor Petuya
Associate Professor Víctor Petuya

Víctor Petuya is since 2007 Associate Professor in the Department of Mechanical Engineering at the Faculty of Engineering of Bilbao, Universidad del País Vasco (UPV/EHU). He has been involved as a researcher in 30 institutional projects at regional, national and European level. Also, he has been involved in 25 research projects directly in cooperation with companies. He has published 38 papers in international journals and 17 papers in Spanish journals. Also, he has been co-editor of 3 Springer books related to Robotics and Micromachines. He is co-author of 3 international patents. He has presented 76 communications in international and national congresses. In 2015, he was been awarded with the IFToMM — LMC TC Service Award. Currently he is Chairman of the IFToMM Technical Committee of Linkages and Mechanical Controls.

工学院

工学院 ―新たな産業と文明を拓く学問―
2016年4月に発足した工学院について紹介します。

工学院

学院・系及びリベラルアーツ研究教育院outer

お問い合わせ先

東京工業大学 工学院 教授 武田行生

E-mail : takeda@mech.titech.ac.jp

更新日:2019.01.07

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