Development of hopping robot with negative stiffness switching circuit via piezo electric element
In resent year, space probe missions are focused on in astronomy field, Astolfi (2002), Yamada(2008), Yano(2006), especially in micro gravity environment, where the development of small hopping rover without slide mechanism is important in order to prevent a vacuum deposition.In our preceding study, we proposed a hopping mechanism which utilizes energy by its resonance.However the simple resonance of this mechanism didn’t provide enough hopping height, so some additional devices were required to obtain a sufficient hopping energy with the system.This paper proposes a new idea of hopping mechanism by stiffness switching method to achieve a effective hopping height.This electrical method switches the stiffness by the use of piezoelectric elements and external capacitance installed on it.Usually, the magnitude of stiffness change due to the change of capacitance in the external circuit is small because of low influence of external capacitance on stiffness of the whole system, so a negative capacitance of NIC (Negative Impedance Converter) circuit is introduced in our study to solve this problem.To evaluate the efficiency of such phenomenon, experimental model of a hopping rover is constructed and numerical analysis is carried out.Also, it is verified by the experiment that the stiffness of the new hopping mechanism can be changed in higher order than that of our previous study by introducing the NIC circuit.Furthermore, numerical effects of the proposed and conventional method are compared.
Daichi Tajima Yoshiki Sugawara Nobuyuki Kobayashi Ayako Torisaka
Dept.Mechanical EngineeringAoyama Gakuin University1-10-5 Fuchinobe,Chuo-ku,Sagamihara-shi,Kanagawa, Dept.Mechanical EngineeringAkita University1-1 Tegatagakuenmachi,Akita-shi,Akita,010-8502,Japan Dept.Mechanical Engineering Aoyama Gakuin University 1-10-5 Fuchinobe,Chuo-ku,Sagamihara-shi,Kanagaw
国际会议
上海
英文
1-8
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）