AN IMPULSIVE TURNING MECHANISM FOR SWIMMING ROBOTS BASED ON REPEATED SNAP-THROUGH BUCKLING

被引：0
|
作者：
Yamada, A. [1 ]
Sugimoto, Y. [1 ]
Mameda, H. [1 ]
Fujimoto, H. [1 ]
Mochiyama, H. [2 ]
机构：
[1] Nagoya Inst Technol, Dept Comp Sci & Engn, Nagoya, Aichi 4668555, Japan
[2] Univ Tsukuba, Dept Intelligent Interact Technol, Tsukuba, Ibaraki 3058573, Japan
来源：
EMERGING TRENDS IN MOBILE ROBOTICS | 2010年
关键词：
Impulsive Motion; Snap-through Buckling; Turning Motion; Swimming Robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we develop an impulsive turning mechanism for swimming robot based on closed elastic structure utilizing bending and twisting deformation of an elastic strip. By using snap-through buckling generated from not only bending but also twisting of thin rectangle elastic strip, impulsive forces can be generated repeatedly by the frequency of 4[Hz] without changing added torque directions. The proposed impulsive mechanism can turn the swimming robot by 90 degrees only 0.4[s]. In addition, since it can generate impulsive motions repeatedly, the swimming robot which use the proposed turning mechanism can be turned by 270 degrees only on 1.2[s].
引用
收藏
页码：253 / 260
页数：8
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