周期力を受けるマイクロロボットの旋回運動に関する研究

抄録

This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled type robots may turn usually along the tangential velocity generated by the rolling wheels. However, the micro robot proposed here has different turning property from the usual mobile robots. First, we derive a two dimensional rolling model of the brush-type robot accompanied with cyclic centrifugal forces, and indicate the existence of the lateral force toward the robot by the computer simulations and the simple mathematical analysis. Next, to confirm the turning motion mechanism caused by the lateral force, we have experiments of the turning motion using some kinds of prototype, and then acquire some experimental data concerned with circle trajectories. Finally, we conclude the validity of the turning motion mechanism caused by the lateral forces which the cyclic centrifugal force generates.