単一の板ばね材からなる柔軟空間閉ループ機構の運動解析

抄録

A low-cost flexible spatial closed loop mechanism made by only punching and pressing a certain thin plate is developed. In order to formulate the deformation of elastic thin link with a spatial curve with Darboux frame, two models, namely, the orthogonal model and the ruled surface model are proposed. In the orthogonal model, bending rigidity and torsional rigidity have a linear relationship. In the ruled surface model, by regarding the curved surface of the link as a ruled surface, the deformation can be expressed only as a bending around the generatrix. For each model, the bending and torsional energies of the link are formulated only with the displacement parameters of the link curve. A novel kinematic analysis method is established to derive the hydrostatic equation with virtual work principle and to calculate the equation numerically. Through several analyses and experiments, it is then confirmed that the orthogonal model is useful for calculation cost while the ruled model is superior to the orthogonal model for analysis accuracy and applicability to link shape.