インフレータブルアームのための紐の摩擦を利用した振動抑制機構の提案

抄録

To realize an arm-type bridge inspection system, a flexible and lightweight vibration suppression mechanism is required. In this study, we proposed vibration suppression mechanisms using the friction of the string, measured the angle change during bending, and confirmed how quickly the posture was stabilized. We proposed a tendon-type and cloth-type vibration suppression mechanism. Bending experiments were performed with nothing attached to the joint and with a tendon-type or cloth-type vibration suppression mechanism attached to the joint, and the angle change was calculated from the acceleration. By adding the tendon-type and cloth-type vibration suppression mechanisms, vibration suppression effects of 40% and 45%, respectively, were obtained.