書誌事項
- タイトル別名
-
- An Impulsive Force Generator Based on Closed Elastica with Bending and Twisting and Its Application to Quick Turning Motion of Swimming Robot
- マゲ ト ネジレ ヘンケイ オ トモナウ ダンセイヘイループ コウゾウ ト ユウエイ ロボット ノ キュウセンカイ ドウサ エ ノ オウヨウ
この論文をさがす
抄録
In this paper, we propose a novel closed loop elastic structure which can generate snap-through buckling with bending and twisting. The proposed mechanical closed loop structure consists of two rotary shafts and a belt-shaped elastic material which two ends are connected to one active rotary shaft and one free joint type shaft, respectively. Driving the active rotary shaft continuously, we can obtain impulsive motion by using snap-through buckling repeatedly. The change of the driving torque and the angular momentum generated snap-through buckling are shown by numerical simulations. The proposed mechanism is applied to a compact swimming robot which can turn impulsively at a maximum rate of 135[deg/s] underwater. In addition, it is shown that an offset parameter of the proposed structure is useful for generating impulsive turning motions of the compact swimming robot effectively.
収録刊行物
-
- 日本ロボット学会誌
-
日本ロボット学会誌 29 (10), 923-933, 2011
一般社団法人 日本ロボット学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001204727731840
-
- NII論文ID
- 10030208691
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL書誌ID
- 023438636
-
- 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