1P1-D28 カイコの営繭行動の解析とロボットへの応用

概要

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We videoed and gave geometric analysis concerning for the position of spinneret, 6^<th> part and 13^<th> part of a larval body in spinning process. As a result, we confirmed some basic actions for searching basement of cocoon construction in the space. Therefore Locus pattern of Silkworm's spinning behavior based on "8" character and "S" character. We modeled this pattern to the Lemuniscate Curvilinear function, and tried to make some locus design for plane surface structure. Furthermore, We extended the pattern of Lemniscate Curvilinear to tree-dimensional space, column model and sphere model. And we applied to make artificial structure by using of a composite material and robot, we analyzed the movement for creating the Lemniscate's curvilinear function. We divided the movement to two elements, stretching and swinging, and we made two equations to control the stretching and swinging actuator.
一般社団法人日本機械学会の論文