運動量交換を主体とした水平移動体の衝突リバウンド抑制制御

抄録

Horizontal moving body settling control mechanism which is mainly realized by momentum exchange, can be expected to save time of article transportation. Momentum exchange impact damper (MEID) is one of the mechanisms in order to solve shock response control problems. This paper proposes a novel hybrid mechanism consisting of passive MEID (PMEID) deceleration and active MEID (AMEID) rebound suppression for realizing rebound reduction of horizontal moving body colliding with a wall. In this method, all of the dampers are not released to the outside of the horizontal moving body but captured by soft springs to assume the actual usage condition. For the same reasons, the function to reduce the rebound and to extend the time in the state of zero rebound velocity is especially focused. The effectiveness of the proposed method is discussed by simulations and experiments. Simulations are conducted with both ideal and experimental conditions. Compared with the system with AMEID or PMEID only, the proposed hybrid MEID combines the advantages of each system and can realize settling control efficiently without releasing dampers out of the horizontal moving body. Ideal simulation results show that it is possible to reduce the rebound and the acceleration of moving body at the time of the collision, and reduce the active control input, simultaneously. These two advantages of the proposed method are also shown by the simulations with experimental conditions and the experimental results.