平板型3次元1リンク・ロボットアームの設計

概要

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As is well known, the physical strength of the mechanical material which has the nonsymmetrical shape must change corresponding to its orientation in the force fields. For example, the bending of the simple beam depends not only on the modulus of elasticity but also on the area moment of inertia. In this paper, leading to the above considerations a new scheme is proposed to design high-rigid mechanical systems. As an example of the system with dynamics, a three-dimensional one-link robot arm constructed by a rotating rectangular plate, instead of the simple beam with symmetrical cross-section, is treated. The system is designed as follows : The major axis of the cross-section of plate moves according to the direction of the resultant of following three vectors-the hydrodynamical drag which is proportional to velocity, the acceleration and the gravity. It has three actuators ; two of them are used for the three-dimensional motion of itself and one rotates the plate. Inertia products of the arm, which are created by the plate rotation, are vanished using two additional masses mounted at the origin of the arm.
岡山理科大学の論文