特異姿勢を利用した受動的運動量交換型衝撃吸収ダンパの最適設計

抄録

So far, we have proposed a passive momentum exchange impact damper (MEID) which realized impact avoidance using mechanical singularity. The conventional mechanism has one problem that the maximum value of body acceleration is too large through motion, because the most of momentum exchange is done in the latter half of the motion. In this paper, the modified passive MEID is proposed to reduce the maximum value of body acceleration. There are two points to be considered. (1) While the conventional mechanism transmits ’zero impact’ to the body, the modified mechanism transmits ’finite impact’ to the body and has an additional weight to exchange momentum in the first half of motion. (2) The link parameters of the modified mechanism are optimized by dynamic calculation based on energy conservation law to make the value of body acceleration constant. A prototype is designed and landing experiments evaluate the effectiveness of the modified mechanism.