| Budget Amount *help |
¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000)
Fiscal Year 2014: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2013: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
Fiscal Year 2012: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
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| Outline of Final Research Achievements |
This work studied a dynamic nonprehensile manipulation of a deformable object, where the shape of a deformable object is controlled by using the plate's rapid vibration. After experimentally confirming the feasibility of the manipulation principle, we introduced a simplified analytical model where a deformable object is modeled by two mass points and the plate has two degrees of freedom. Using this model, we investigated how the object's behavior changes with respect to the amplitude of the rotational angular acceleration of the plate. We showed that the behaviors of the mass points and the whole object are governed by the six non-dimensional boundary amplitudes. Through simulation analysis, we then revealed that the optimal plate's motion leading to the maximal deformation velocity is provided by one of the six boundary amplitudes.
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