F-0628 線状物体の動的変形を利用したマニピュレーションに関する研究(J18-1 ITによる設計支援環境)(J18 21世紀のITとモノづくり)

概要

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An approach to analysis of dynamic deformation of linear objects such as wires is presented. It is important because dynamical effects can not be neglected in quick manipulation of such deformable objects and their dynamic deformation is often utilized in order to manipulate them successfully. Firstly, the potential energy and the kinetic energy of a linear object are formulated by using Eulerian angles. Secondly, the equations of motion are derived by using Hamilton's principle. Thirdly, a procedure for calculating shape of deformed linear objects is proposed and some numerical examples of their dynamic deformation in 3-dimensional space are demonstrated. Finally, The validity of our proposed method is shown by experimental result, and it is found that it can be applied to the planning of manipulation utilizing dynamic deformation.
一般社団法人日本機械学会の論文
2001-08-22