Exploration of Unknown Mechanisms and Construction of Unified Evaluation Methods for the Establishment of "Wheeled Mechanism Science"

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14067
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 18040:Machine elements and tribology-related
• Research Institution: Kyoto University
• Principal Investigator: Terakawa Tatsuro 京都大学, 工学研究科, 助教 (10847982)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 車輪 / 移動装置 / 運動学 / 機構総合

Outline of Final Research Achievements

In order to clarify what kind of wheel mechanism has what kind of characteristics and responds to what kind of requirements, this research was conducted with the aim of constructing a theoretical system for wheeled mechanisms, and the following results were obtained. (1) The functions of the wheel mechanism were abstracted and expressed so that a theory of motion called screw theory could be applied. (2) A new mechanism based on a new principle of motion was proposed by extending the kinematic model that had been constructed in the past. (3) A mechanism was proposed that utilizes the constraints imposed on the wheel mechanism to control the spatial motion. (4) Various wheel mechanisms were analyzed and their slippage and vibration were investigated.

Free Research Field

機構学

Academic Significance and Societal Importance of the Research Achievements

①スクリュー理論が導入されることで、車輪機構の創造設計や比較評価を直感的に行いやすくなる。②新動作原理により、複雑な車輪式移動装置を容易に制御できるようになる。③車輪機構の拘束を利用することにより、省モータ化など新しい特性を備えた機構が実現できるようになる。④各車輪機構の特性を数値的に評価することで、より有効な車輪機構の選定や設計を行うことができる。これらの成果は、必要な機能を備えた車輪式移動装置の機構を誰でも簡単に作り出せるような設計方法論の構築に寄与する。