Analysis on Dynamics of Ciliary Micro-Hopping Mechanism by an Eccentric Motor in a Micro-Gravity

2014 Fiscal Year Final Research Report

• Project/Area Number: 24760193
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAGAOKA Kenji 東北大学, 工学(系)研究科(研究院), 助教 (60612520)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 移動ロボット / 微小重力 / 振動推進 / 力学モデリング

Outline of Final Research Achievements

Novel locomotion mechanism and its theoretical mechanics were investigated for future robotic exploration in a micro-gravity asteroid. The proposed mechanism is adaptive ciliary hopping by using an eccentric motor and its dynamics modeling was developed. The validity of the mechanism and the modeling were also confirmed through experiments with an air-floating test bed which can emulate planar micro-gravity environment.

Free Research Field

宇宙ロボティクス