Study on Casting Manipulation. 1st Report. Manipulator with Flexible String and its Swing Motion Control.

仁, 有隅; 徹雄, 神徳; 清, 小森谷

doi:10.1299/kikaic.64.3854

Cited by 3 publications

References 2 publications

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Research and development of tethered satellite cluster systems

Mori

Matunaga²,

Waeda³

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

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In this paper, we propose the concept of Tethered Satellite Cluster Systems, as an application of the RoboSat Clusters. The system consists of some satellites joined by tethers, and keeps and changes the constellation with tensionllength control of the tethers to perform various orbit service missions. We formulate the motion of the system in order to analyze the dynamics and establish the methods of coordinated control of tension and attitude of the satellite. In addition, we develop a ground experiment system including a reel mechanism for the tethered satellite cluster systems. We outline the system components and show results of the fundamental experiments for verification of the reel mechanism and the control methods.

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Research and development of tethered satellite cluster systems

Mori

Matunaga²,

Waeda³

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

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Casting behavior of the string structures considering axial elongation

Sawada

Watanabe

2019

Transactions of the JSME (In Japanese)

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A flexible string is used at various places. Typical examples are a cable for power transmission and communication and a wire for cranes and elevators. In addition, there are the uses such as a fly-fishing line, climbing rope and a mowing machine to cut turf by turning a nylon string. In the past study, a string pendulum was paid attention as the basic motion of the string. An analysis model of the string pendulum was made and appropriateness of the modeling and the behavior of the string pendulum were clarified. However, axial elongation is not considered. In fact, the axial elongation affects their behavior such as axial micro vibration or restoring force of the elongation. Therefore, it is necessary to consider the axial elongation to grasp the behavior of the string more exactly. In this study, an accelerated motion of the string such as the casting motion is focused on and analyzed in consideration the axial elongation then appropriateness of the modeling is verified by comparing experimental results and analysis results. Furthermore, relations of the axial elongation and an accelerated motion are investigated. In this paper, the behavior is investigated focusing on the velocity of the tip of the string. As a result, strain energy is stored and then converted into kinetic energy, thereby increasing the velocity.

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Three-Dimensional Dynamics of Tethered Multibody Systems with Friction and Impact.

Mori¹,

Matunaga²

2002

JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCE

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:In this paper, the dynamics of tether winding target is analyzed. This problem is not peculiar to capture of an uncontrolled satellite with tether. It contains the common technology to casting the tether in order to moor the floating object in space, or to operating tether in the ground. This paper presents three-dimensional model of a tether and a target. The tether is divided into concentrated masses in order to consider the tether motion. The target is regarded as a prism. In formulation of the system, the friction and the normal reaction between the target and the concentrated mass is defined as contact force. And the impulse equations applied to the case that more than two concentrated masses collide with the target in the same time, is derived. In numerical simulations, the verification of this model is presented by the comparison with fundamental two-dimensional model of a tether and a target, and three-dimensional winding motions, the sideslip and the gyro effect, are shown.

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Study on Casting Manipulation. 1st Report. Manipulator with Flexible String and its Swing Motion Control.

Cited by 3 publications

References 2 publications

Research and development of tethered satellite cluster systems

Research and development of tethered satellite cluster systems

Casting behavior of the string structures considering axial elongation

Three-Dimensional Dynamics of Tethered Multibody Systems with Friction and Impact.

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