遠心力を利用した走行マイクロロボットの研究

• 五百井 清

  近畿大学工学部

書誌事項

タイトル別名

• Study on Mobile Micro-Robot using Centrifugal Force.
• エンシンリョク オ リヨウ シタ ソウコウ マイクロロボット ノ ケンキュウ

抄録

This paper deals with a new mobile micro-robot using centrifugal force. Many mobile micro-robots using PZT elements have been developed, though their PZT elements generally require some high voltage amplifiers with electric cable lines. Therefore, it is a little difficult for the mobile micro-robot to move about in long and thin pipes. My proposed micro-robot consists of many brush fibers, two coreless motors and a button electric cell. These coreless motors with eccentric weights generate centrifugal forces which transmit to the brush fibers with elastictity, and consequently occur driving forces of the micro-robot. First, I derive a basic mathematical model of the mobile micro-robot using centrifugal forces. Next, some simple prototypes of this robot are developed, and the characteristics of high velocity is examined by experiment. Finally, I verify the validity of the proposed mathematical model by comparing simulation results with experimental results .

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (3), 396-401, 1999

  一般社団法人 日本ロボット学会

キーワード

• Micro-Robot
• Centrifugal Force
• Elastic Fiber
• Frictional Coefficient

詳細情報

• CRID: 1390282679702779520
• NII論文ID: 10002865941
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.396
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4694015
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4694015
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可