The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2022
Session ID : 2A1-P04
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Experimental Investigation of The Relationship between Vibratiory Amlitude and Increasing Supporting Force
*Tomohiro WATANABEKojiro IIZUKA
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Abstract

The supporting force, that legs of the rover is received, is increased when vibration is imparted to the ground. This phenomenon improves the running performance of the legged rovers. In this study, the relationship between vibratory amplitude and increasing the supporting force is investigated. In the experimental results, the more vibratory amplitude is large, the more the supporting force is increased in low sinkage of a leg. However, this result has not been confirmed in high sinkage of a leg. Moreover, the supporting force is correlated with vibratory acceleration which is calculated from vibratory amplitude in low sinkage of a leg. This result means that the supporting force may be estimated from vibratory acceleration. Next, vibratory amplitude and vibratory frequency are compared in order to investigate which is effective for increasing the supporting force. In this results, vibratory amplitude is more effective than vibratory frequency for increasing the supporting force.

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© 2022 The Japan Society of Mechanical Engineers
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