NDLI: An impulsive force generator based on closed elastica with bending and distortion and its application to swimming tasks

Content Provider	IEEE Xplore Digital Library
Author	Yamada, A. Sugimoto, Y. Mochiyama, H. Fujimoto, H.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science and Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Aichi 466-8555, Japan (Yamada, A.; Sugimoto, Y.; Fujimoto, H.) \|\| Department of Intelligent Interaction Technologies, University of Tsukuba, Tennoudai 1-1-1, Ibaraki 305-8573, Japan (Mochiyama, H.)
Abstract	In this paper, we propose a novel closed loop elastic structure which can generate snap-through buckling with bending and distortion. The proposed mechanical closed loop structure consists of two rotary shafts and a belt-shaped elastic material which two ends are connected to one active rotary shaft and one free joint type shaft, respectively. Driving the active rotary shaft continuously, we can obtain impulsive motion by using snap-through buckling repeatedly. The change of the driving torque and the angular momentum generated snap-through buckling are shown by numerical simulations. From these results, it is shown that an offset parameter of the proposed structure is useful for generating impulsive turning motions of the compact swimming robot. The proposed mechanism is applied to a compact swimming robot which can turn impulsively at a maximum rate of 135 deg/s underwater.
Starting Page	957
Ending Page	962
File Size	1759476
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980473
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Shafts Strips Turning Shape Materials Torque
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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