振動床面上の移動機構の研究 : 第2報, 二次元平面運動 : 機械力学,計測,自動制御

概要

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This paper investigates moving characteristics of a mobile mechanism. The mechanism is the combination of a pair of the bodies which are consisted of the particle and the slant leg with the rotational spring at the joint. Each component body alone travels forward and backward in straight line on the floor under harmonic excitation, and the moving velocity depends on the exciting frequency. This is caused by the difference in friction force between forward and backward directions during stick-slip motion. By combining these bodies, new motion is obtained, i. e., the mobile mechanism can achieve rotation as well as straight movement. This characteristics is obtained by tuning natural frequencies of the component bodies. Numerical simulation and experimental results show that the moving and angular velocities are controlled by the exciting frequency.
一般社団法人日本機械学会の論文
2001-04-25