薄板状物体のマニピュレーションにおける曲げ変形操作の静力学的解析

抄録

A systematic approach to analyze the deformation of a bendable thin object during its manipula-tion is presented. First, the manipulation process of a deformable object is analyzed with regard to how the object interacts with other objects around it. Secondly, deformation of the object is formulated based on the principle that the potential energy of the object reaches the minimum when its shape is stable under geometric and static constraints imposed on it. Thirdly, an algorithm to compute the shape of the deformed object is developed by applying a nonlinear programming technique. Some numerical examples are given which demonstrate the effectiveness of the computational algorithm. Finally, the results of simple experiments are reported, which show the validity of the proposed approach.