222 射出成形パンタグラフ機構を用いた3脚振動形移動ロボットに関する研究(OS15-1 リンク・カムI)

• 石川 主税

  東工大[院]

• 神谷 大揮

  東工大・精研

• 堀江 三喜男

  東工大・精研

書誌事項

タイトル別名

• 222 Research on a 3-leg Oscillating-type Mobile Robot using Injection-molding Pantograph Mechanisms

抄録

A 3 leg moving robot which has legs constructed by injection molding pantograph mechanism from polypropylene is herein suggested, and the velocity characteristics are measured in this paper. The injection molding pantograph mechanism has some natural frequencies in various directions with reference to the output point when an input wave is applied at an input point. Therefore, if the injection molding pantograph mechanisms are applied as legs, the robot employing pantograph mechanisms can move in various directions by actuating only one leg. A manufactured 3 leg vibration moving robot could move forward at 38mm/s, backward at 54mm/s and spin at 0.23rad/s by actuating one leg. By shifting the phase between each leg and the amplitude of the legs, the vibration propelled robot was able to accomplish a high speed of 167mm/s.

収録刊行物

• 運動及び動力伝達機構シンポジウム講演論文集

  運動及び動力伝達機構シンポジウム講演論文集 2007 (0), 187-188, 2007

  一般社団法人 日本機械学会

キーワード

• Pantograph mechanism
• High polymer
• Molding
• Large-deflective hinge
• Three leg robot
• Miniature 3-DOF mobile robot
• Dynamic characteristics

詳細情報

• CRID: 1390282680868147328
• NII論文ID: 110007082731
• DOI: 10.1299/jsmempt.2007.187
• ISSN: 2424306X
• Web Site: https://www.jstage.jst.go.jp/article/jsmempt/2007/0/2007_187/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可