2P1-I01 消費エネルギーを考慮したセンサノードの跳躍移動機構の開発(ネットワークロボティクス)

概要

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This paper presents the design and analysis of one-time-use leaping mechanism for sensor node relocation, resulting in larger coverage and higher connectivity in sensor networks. There is always a challenge on how to design a controllable locomotion mechanism for the relocation issue in order to operate in an autonomous, robust, and dependable way in adverse environmental conditions. What is the most important aspect from the practical point of view is to develop a simple yet efficient locomotion actuator not requiring power consumptions. For this purpose, we propose a new leaping actuator that utilizes the ground reaction force generated when releasing multiple pre-compressed springs mounted underneath the sensor node. We are in the preliminary stage of developing a prototype system. In this paper, we investigate through simulations the technical features of the specification that give the leaping height and torque required for activating the proposed mechanism.
一般社団法人日本機械学会の論文
2011-05-26