閉ループ柔軟カタパルトの静力学解析

• 山田 篤史

  名古屋工業大学

• 望山 洋

  筑波大学

• 藤本 英雄

  名古屋工業大学

書誌事項

タイトル別名

• Statics Analysis of the Robotic Catapults based on the Closed Elastica
• ヘイループ ジュウナン カタパルト ノ セイリキガク カイセキ

抄録

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

  日本ロボット学会誌 26 (2), 169-177, 2008

  一般社団法人 日本ロボット学会

キーワード

• Flexible Robot
• Closed Link
• Impulsive Motions
• Buckling

詳細情報

• CRID: 1390001204727398528
• NII論文ID: 10021141926
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.26.169
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 9422439
• Web Site: http://id.nii.ac.jp/1476/00005374/
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9422439
• 本文言語コード: ja
• データソース種別:
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  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可