ワイヤ部材を用いた不静定適応トラス : トポロジの設計と運動学

概要

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The present study deals with an adaptive truss having a number of wire members as its actuators. Compared to conventional rigid length-adjustable actuators of a telescopic mechanism, wire members have advantages such as large stroke and light weight. An important point to which we must pay attention is the lack of rigidity of a wire member against any compressive force ; that is, such an adaptive truss must have a statically indeterminate topology. An iterative analysis procedure for statics problem of such a mechanical system is proposed and the stability analysis based on the procedure is given. Possible designs of truss unit are investigated based on the stability analysis. We also discuss the formulation of inverse and forward kinematic problems taking account of the statical indeterminacy. Illustrative simulation studies are conducted and the feasibility of this kind of adaptive truss and an interesting mechanical property coming from the wire member characteristics are demonstrated.
一般社団法人日本機械学会の論文
2000-02-25