引き込み現象を利用してリムレスホイールの劣駆動歩行を実現する外部揺動搬送機の開発

抄録

In this paper, we propose a novel vibratory conveyor system based on frequency entrainment of limit cycle walking. The conveyor system transports a passive rimless wheel utilizing a vibratory plate which moves up and down by rolling and impact of an active rimless wheel. First, we introduce the mathematical model of the proposed conveyor system. Next, we investigate the influence for the passive rimless wheel gait by vibration of the conveyance plate via the numerical simulation using the mathematical model, and confirm the entrainment phenomenon between the passive rimless wheel and the vibratory plate. Futermore, we conduct experiments using the prototype vibratory conveyor system, and confirm that experimental results show similar trends to the numerical simulation.