連続試射を目指した竹とんぼ発射台の開発とその効果

抄録

The ‘Taketombo’ launch pad has made it possible to objectively determine the flight performance of all types of ‘Taketombo’ type flying objects, not only ‘Take-tombo’(=bamboo-tombo) but also ‘plastic-tombo’ and ‘paper-tombo’. However, the preparation to determine the flight performance of each flying object is a manual process, and fully automatic flight performance determination is required to minimise differences in flight performance due to variations in the position of the flying objects on the launch pad by individuals and to obtain data on many flying objects at once. Therefore, as a first step in this paper, an attempt was made to enable multiple human-independent flights with a single preparation. As a result, at the present time, it was possible to perform everything from the conception of the bellows-type robot hand that simultaneously grasps the ‘Taketombo’ while extending it from a retracted state to an extended state, and the linear guide for vertical movement, to the confirmation of the operation. This has provided the basis for enabling highly accurate measurement by using the robot hand to grasp at the same position and with the same grasping force as when grasping with the human hand. However, the rotation of the hand tower in the Z-axis direction and the continuous firing of the entire hand tower in a continuous motion have not been implemented.