構造的異方性の動的活用によるフレキシブルビームの振動軌道形成法

抄録

This paper proposes a novel method for controlling vibrational orbit of a flexible beam with a structural anisotropy. First, we introduce an analytical model consisting of a flexible beam whose flexural rigidity has anisotropy and a rotational actuator attached to the base of the beam. The rotational axis of the actuator is arranged to be nonparallel to either of two stiffness principal axes of the beam. Using the model, we theoretically derive the vibrational orbit of the tip of beam with respect to the synthetic wave input given to the actuator. Through the analysis, we show that Lissajous curve-based various orbits can be formed by tuning the control parameters, such as frequency ratio and phase difference. Finally, we demonstrate experiments. After confirming the validity of the proposed method, it is applied to a nonprehensile manipulation where three-degrees-of-freedom motion of an object is controlled by a single actuator.