機械的位置エネルギーを利用した空中ブランコロボットの開発 Development of Aerial Acrobat Robot Utilizing Mechanical Potential Energy

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This paper describes a theory and experimental results concerning a passive aerial acrobat robot without electric power. As the robot performs hand-to-hand on its flying trapeze, it utilizes no electricity but simply draws power from the mechanical potential energy of its swings. The robot, holding onto the trapeze, overcomes the rotation moment by aid of a counterbalance that is on the opposite side of the swing and the robot begins to move. When the counterbalance is set on the frame of the swing at offsetting distance, a large rotation moment is generated, even when the robot gets to the most inferior point. As the result, the robot rises at an accelerated rate through the bottom point. When the robot reaches up to the height of the next swing, the hand of the robot slips from the handrail and the robot is released from the swing. At that time, the robot's arms extend forward by a spring installed inside the body of the robot, and the robot can catch hold of the handrail of the next swing. The angle of the handrail is adjusted to stabilize movement. It was confirmed from the experiment that the robot was able to transfer continuously throughout a set of the swings.

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), 184-191, 2008-03-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10021141965
  • 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
    9422452
  • 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  NDL  J-STAGE 
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