ラート体操機構の基本運動特性の解析(機械力学,計測,自動制御)

概要

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Rhonrad is a gymnastic tool that is interesting in terms of dynamics and control. From the governing basic equations of a Rhonrad with a fixed gymnast mass, we analyzed the fundamental characteristic of a steady Spiral motion of the Rhonrad. First, we obtained the condition for a steady Spiral motion. By examining the eigenvalues of the perturbed motion of the Rhonrad from a steady motion, we next obtained a stable region of Spiral motion against a small disturbance, and discussed a common rule of gymnast for a stable Spiral motion. We further analyzed a feasible region of the stable Spiral motion without slipage for a limited frictional coefficient. Euler's disk can be understood as a limiting Spiral motion that can be realized at zero friction.
社団法人日本機械学会の論文
2004-10-25