振動推進の研究 : 推進速度と方向制御

概要

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This paper treats the method of moving a particle by means of vibratory actuator which is attached to the particle. These devices are named vibratory movers. When a particle is moved without jumping on a sliding surface, the motion of the particle is represented by the combinations of three basic motions, i.e. positive slip, negative slip and stick motion. Therefore the moving velocity of the-particle is not uniform throughout one period of vibration due to intermittent sticking and slipping motions, and the mean moving velocity must be calculated. The vibratory movers are classified into three types according to the structure. They are direct actuated type, multi-degrees-of-freedom type and electromagnet type. In this paper, the direct actuated type and two-degrees-of-freedom type are discussed analytically. In the direct actuated type, the equations of motion of the particle are similar to those of vibratory conveying. The relations between moving conditions and moving velocity are shown by various diagrams, and the optimum moving conditions are considered. The control methods of moving direction are discussed also. It has been confirmed that the above theoretical results agree well with experimental ones.
公益社団法人精密工学会の論文
1983-06-05