曲げとねじれ変形を伴う弾性閉ループ構造と遊泳ロボットの急旋回動作への応用  [in Japanese] An Impulsive Force Generator Based on Closed Elastica with Bending and Twisting and Its Application to Quick Turning Motion of Swimming Robot  [in Japanese]

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Author(s)

Abstract

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.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 29(10), 923-933, 2011-12-15

    The Robotics Society of Japan

References:  23

Codes

  • NII Article ID (NAID)
    10030208691
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    023438636
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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