テンセグリティ構造制御のための磁歪素子アクチュエータの開発

抄録

In this study, we perform basic investigations for the construction of a self-sensing control system using magnetostrictive elements, mainly for the purpose of controlling a three-dimensional tensegrity structure. In the past, systems using piezoelectric elements and linear actuators have been developed, but they have problems such as the installation cost of a controller and the need for a separate sensing system. In this study, we focus on the magnetostrictive element, which has both sensor and actuator functions in a single element, and develop a compact and cost-effective control system to precisely control the shape of the tensegrity structure. In this study, we evaluate the characteristics of magnetostrictive elements and design and develop a displacement control mechanism for the shape control system. The basic displacement measurement experiment of the magnetostrictive element using a laser displacement meter and magnetic flux density analysis using magnetic analysis software are conducted, and the effectiveness of the smart tensegrity structure is demonstrated through both numerical simulation and experiment by actually incorporating the displacement control mechanism into the tensegrity model.