宇宙ロボットのためのモーファブルビームの動力学解析

抄録

As a trend of space development in recent years, there are large-scale and complicated missions. So, automation and support by robots are required. These robots are required to be small and have a wide range of locomotion and work capabilities. As a robot that satisfies this requirement, some robots using morphable beam has been proposed. A beam dynamics model is required for the operation of this kind of robot. The purpose of this study is to construct a dynamics model of the morphable beam. First, the deformation principle of the morphable beam was described, and the components of the model were proposed. Next, the author proposed experimental methods for identifying each parameter value of the model. In order to evaluate the model, the results of computer simulations and experiments were compared. Finally, the author examined the concept of landing gear using morphable beam by computer simulations.