2023 Fiscal Year Final Research Report
Creation of tube type self-excited vibration system and its application to the traveling wave type flexible mobile robot
| Project/Area Number |
19H02105
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | 自励振動 / 空気圧駆動 |
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| Outline of Final Research Achievements |
Aiming to simplify the piping and wiring of the pneumatic drive system and to make it completely powerless, we challenged to develop a design method for a novel pneumatic drive system that induces self-excited vibration from a constant supply pressure and periodically switches the internal pressure of the actuator. First, we developed a coin-sized tube-shaped vibrator with a mass of about 1g, consisting of a flat tube, a restraining part, a permanent magnet, and a holder. Next, we clarified the design conditions for generating periodic pressurization and depressurization operations in a two-port system in which a pressure source is connected to the input side of the vibrator and an actuator is connected to the output side. Furthermore, we expanded the configuration to three or more ports, and implemented it in a completely powerless traveling wave mobile robot to verify the effectiveness of the proposed method and clarify remaining issues.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
１つ入力ポートに空圧エネルギーを供給するだけで、複数の出力ポートに周期的かつ高速(数十Hzのオーダー)に切換動作を生成できる自励振動デバイスは世界初の試みである。これにより、多数チャンバーの空気圧駆動系において、弁や配管数を軽減でき、著しく簡素でスリムな空圧駆動系を構築できる可能性が開けた。また、本研究で創出された偏平チューブと永久磁石の組み合わせから生じる自励振動現象は、従来の人工物では試みられなかった独創的な流体現象であり、他の分野でも適用できると見込まれる。さらに、本手法が空圧式進行波移動ロボットの設計を簡素化する際にも適用可能なことが実験的に示された。
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