609 ワイヤをアクチュエータとする不静定適応トラス : 動特性を考慮した構造設計

概要

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A design approach of statically indeterminate geometry adaptive truss with wire member actuators is discussed from the viewpoint of its dynamic property. Generally, the dynamic property of a mechanism is evaluated based on its natural frequency calculated as the eigenvalue in terms of its inertia and stiffness matrices. It is difficult, however, to adopt this kind of approach in our case. The reason is that the stiffness matrix drastically changes during the dynamic vibration because of the characteristics of wire members that they do not have stiffness against any compressive force. In this study, we develop a criterion for dynamic property evaluation based on dynamic simulation of the adaptive truss. Example designs of adaptive truss with wire member actuatros based on a kind of combinatorial design variables are also demonstrated.
一般社団法人日本機械学会の論文
2003-09-16