スキン円筒はりの最大荷重の制御と安全荷重の保持 : 接触・衝突に柔軟に適応する医療福祉ロボットの安全構造の構築(機械力学,計測,自動制御)

概要

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The final goal of this study is to construct safety structures for medical and human-car robots and moving equipments. This paper proposes a concept of the smart structure applied to them that has an ideal load-deflection curve for the safety design. An experimental study on the denting and bending of aluminum skin tubular beams and ways to control the load-deflection curves with various reinforcements and triggers was carried out as the first step of the goal. Experimental results on simply supported tubes show that a simple skin model for low load design and a double skin model for high load design have each ideal structural property considering from a viewpoint of high initial rigidity, peak-load control, high buffer efficiency and configuration reversibility. One of three kinds of reinforced skin tubes that are able to construct the ideal load- deflection curve with a ring-shaped trigger is proposed to be of most practical use for cantilever models.
社団法人日本機械学会の論文
2006-10-25