無摺動結合関節機構の概念設計と機能確認実験

抄録

In future space development, it is necessary to build large deployable structures in a short period of time. In this paper, we focus on the autonomous assembly structure using the modular structure. In the autonomous assembly of modules, the functions of movement and connection are necessary, but there is a risk of sliding and adhesion. As a solution, we propose a non-sliding joint mechanism using electromagnetic force. The joint mechanism consists of two spheres that are joined together by magnetic force. The position of the electromagnet within each sphere is controlled by the motor inside the sphere. By changing the positions of the electromagnets synchronously, the contact point between the spheres does not slip and is transitioned by rolling. To confirm the feasibility of a non-sliding mechanism using magnetic force, a two-dimensional experiment was conducted. The joint angle was moved 180 degrees and the amount of slip was measured. Ideally, the slip was 0, but a slip of 1.6 deg rms occurred by the effect of asynchrony and friction.