振動利用による自走機構の研究(機械力学,計測,自動制御)

概要

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In this paper we propose a mobile mechanism using vibration. Our proposed mechanism consists of two small voice coil motors, several bundles of elastic fibers. These elastic fibers aslant attached to a body of the mobile mechanism change vibration into driving force using the difference of friction force, and elasticity. The apparent friction coefficient between elastic fibers and the surface of a wall changes with attachment angles. We measured moving velocity by changing attachment angle of elastic fibers and applied frequency. The experiment result showed that velocity of the mobile mechanism was controllable by input frequency. We controlled move direction by controlling two motors independently. We enabled control of the running direction by making two input waves produce phase difference.
社団法人日本機械学会の論文
2004-10-25