222 射出成形パンタグラフ機構を用いた3脚振動形移動ロボットに関する研究(OS15-1 リンク・カムI)

概要

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A 3 leg moving robot which has legs constructed by injection molding pantograph mechanism from polypropylene is herein suggested, and the velocity characteristics are measured in this paper. The injection molding pantograph mechanism has some natural frequencies in various directions with reference to the output point when an input wave is applied at an input point. Therefore, if the injection molding pantograph mechanisms are applied as legs, the robot employing pantograph mechanisms can move in various directions by actuating only one leg. A manufactured 3 leg vibration moving robot could move forward at 38mm/s, backward at 54mm/s and spin at 0.23rad/s by actuating one leg. By shifting the phase between each leg and the amplitude of the legs, the vibration propelled robot was able to accomplish a high speed of 167mm/s.
社団法人日本機械学会の論文
2007-11-29