自励振動アクチュエータに関する研究 : 第1報,2自由度自励振動系の特性解析

概要

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In order to develop a periodical motion mechanism with high robustness against the variation of system parameters and enviroments, we study a self-excited vibratory actuator theoretically. As a two-degree-of-freedom self-excited vibratory system, the Van der Pole (VDP)-type vibration system and self-excited vibration system related to asymmetry of the stiffness matrix (ASM) with a nonlinear damping term are studied. Their characteristics are analyzed in detail using an analytical approximation method and numerical method. In the VDP-type vibrating system, one of the natural modes of vibrations of the original passive system is self-excited. In the ASM-type vibrating system, on the other hand, the original passive system is self-excited near the antiresonance fruquency in the limit cycle, so that we can utilize a vibratory motion with a large amplitude of unforced mass and small amplitude of the forced one. The methods of actuating two-degree-of-freedom passive systems as self-excited vibratory actuators and the robustness and efficiency of the actuator are also discussed.
一般社団法人日本機械学会の論文
1994-09-25