ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-J06
会議情報
1A2-J06 手首コンプライアンスを有する宇宙ロボットにおける接触特性の実験解析(【宇宙工学部門】宇宙工学とロボティクス・メカトロニクス(1))
鵜山 尚大藤井 祐輔永岡 健司吉田 和哉
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会議録・要旨集 フリー

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This paper presents the experimental evaluation of contact characteristics of a space robot equipped with a compliant wrist. Introduction of a compliant wrist allows a space robot to ease contact control issues in microgravity environment, such as satellite capture and soft landing on asteroid surface, because a compliant wrist increases contact duration and reduces peak of contact force. The contact dynamics model between a compliant wrist and a floating object is constructed as oscillatory systems, and the model is simplified by assumption that dominant frequency of the system is given by a compliant wrist. Contact duration and coefficient of restitution are formulated based on the simplified contact dynamics model. Finally, experimental evaluation is conducted using an air-floating-based two dimensional microgravity emulator. The experimental results showed that the simplified model can be used to predict contact duration and resulting coefficient of restitution in a specific range.
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© 2012 一般社団法人 日本機械学会
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