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

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Author(s)

Abstract

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.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 26(2), 169-177, 2008-03-15

    The Robotics Society of Japan

References:  20

Cited by:  3

Codes

  • NII Article ID (NAID)
    10021141926
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    9422439
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  IR  J-STAGE 
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