有限要素法による能動変形機構の衝撃緩和解析
Shock Absorbing Analysis of Actively Transforming Architecture by Using Finite Element Method

Abstract


 従来のロボティクス分野では,一般的に機構を構成する部材に生じる内力は重要視されなかった.しかし,ロボットが高速移動するにつれ,その機構内に生じる衝撃力が増し,部材破壊の危険性が高くなると考えられる.そこで本研究では,有限要素法による能動変形機構の内力分布解析アルゴリズムを構築し,簡単な歩行ロボットモデルに対し,その移動速度や重心移動が機構内に発生する衝撃力に与える影響について検証を行った.


Generally, impact force produced in constituting members of a robotic mechanism was not taken seriously. But as robot architecture becomes maneuverable in high-speed motion, the shock wave produced in the mechanism increases, as well as the danger of mechanical destruction. In this research, an inertial force distribution analytical algorithm of activity transforming architecture by using Finite Element Method is constructed, and is applied to a simulation of a biped. robotic model. It is verified that the motion speed of the mechanism has influence on the shock wave occurring in the mechanism, and shifting operation of the center of gravity may become practical in absorbing the shock wave.


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