形状制御のためのレオロジー物体の変形モデリング

概要

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A new approach to the deformation modeling of rheological objects for their shape control is presented. Manipulative operations of rheological objects can be found in many industrial fields such as food industry and medical product industry. Automatic operations of rheological objects are eagerly required in these fields. Since rheological objects deform during operation processes, it is necessary to simulate the behavior of the objects and to estimate their deformation for the automatic operations. Consequently, a model of a rheological object is needed for the simulation and the estimation of its deformation. We will propose a lattice structure based modeling method for rheological object deformation. First, behavior of viscoelastic models is briefly explained. Second, we will introduce a nonlinear damper (NLD) into a viscoelastic model in order to describe the deformation of rheological objects. Next, a rheological object is modeled as a lattice structure, where mass points are connected through viscoelastic models using an NLD. Model parameters of a rheological object are then estimated through a creep experiment. Finally, comparison between the behavior of an actual rheological object and that of an identified model will demonstrate the validity of the proposed model.
社団法人日本ロボット学会の論文
2000-11-15