閉ループ柔軟カタパルトの静力学解析 Statics Analysis of the Robotic Catapults based on the Closed Elastica

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In this paper, statics analysis is made for our proposed robotic catapults based on the closed elastica as a robotic element for generating motions with impulsive acceleration. The proposed robotic catapults are just bended elastic strips whose two ends are fixed to two rotational joints. By only driving rotational joints back and forth gradually in order to achieve snap-through buckling actively, we can easily obtain repeated impulsive motions of the elastic strip. However, the characteristic as the robotic element has not been clarified enough because the structure contains an elastic strip with large deformation. Ou r statics analysis for planar deformable type catapults shows as follows. From theoretical analysis, the shape of the elastic strip is stiffness independent and the actuator torque necessary to drive the rotational joint is proportional to the stiffness of the elastic strip. From numerical simulations, the proposed catapults have the structure that suppress the driving torque necessary to store elastic energy. Using these results, we can indicate a design guidelines for compact and powerful mobile robots moving briskly.

In this paper, statics analysis is made for our proposed robotic catapults based on the closed elastica as a robotic element for generating motions with impulsive acceleration. The proposed robotic catapults are just bended elastic strips whose two ends are fixed to two rotational joints. By only driving rotational joints back and forth gradually in order to achieve snap-through buckling actively, we can easily obtain repeated impulsive motions of the elastic strip. However, the characteristic as the robotic element has not been clarified enough because the structure contains an elastic strip with large deformation. Ou r statics analysis for planar deformable type catapults shows as follows. From theoretical analysis, the shape of the elastic strip is stiffness independent and the actuator torque necessary to drive the rotational joint is proportional to the stiffness of the elastic strip. From numerical simulations, the proposed catapults have the structure that suppress the driving torque necessary to store elastic energy. Using these results, we can indicate a design guidelines for compact and powerful mobile robots moving briskly.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 26(2), 169-177, 2008-03-15 

    社団法人 日本ロボット学会

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各種コード

  • NII論文ID(NAID)
    10021141926
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    9422439
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  IR  J-STAGE 
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