振動を利用した推進に関する研究

（推進特性に与えるパラメータの影響）

抄録

The effects of parameters on the driving mechanism using swing motion are investigated. The system comprises a body and a rod which have two and one freely rotating wheels, respectively. The rod is pinned to the body so that it is able to swing like a pendulum about the pinned joint by a servo motor. Experiments and numerical simulations are carried out in order to clarify the effects of swing amplitude, rod length, distance between rear wheels and radius of gyration of the body on the propulsion characteristics. The results demonstrate that the propulsion speed increases with increasing swing amplitude, rod length and radius of gyration, whereas it is hardly affected by distance between rear wheels.