競合と協調を表す四節リンク機構の試作

抄録

In this paper, we propose a four-bar linkage mechanism representing competition and cooperation. For this purpose, we propose a Single Bistabile Pendulum (SBP) mechanism of simple mechanism that have bistability by magnetic force and ferromagnetic cam. And we propose a four-bar linkage mechanism that have quadri-stability, connected the pendulum points of two SBP mechanisms by link. We obtain a basin of attraction of the four-bar linkage mechanism experimentally. Moreover, we derive a analysis model of the four-bar linkage mechanism, and obtain a basin of attraction of the analysis model numerically. Then, we compare a basin of attraction of the four-bar linkage mechanism with the analysis model. The result shows that the analysis model is suitable as a analysis model of the four-bar linkage mechanism.