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Influence of Slope Angle and Traction Load on Performance of AZARASHI (Seal) Mechanism with One Degree of Freedom
Author(s) -
Furutani Katsushi,
Kawagoe Katsumi
Publication year - 2010
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20515
Subject(s) - traction (geology) , mechanism (biology) , actuator , climb , tractive force , electromagnet , displacement (psychology) , mechanical engineering , inclined plane , engineering , pneumatic actuator , mechanics , control theory (sociology) , structural engineering , magnet , physics , computer science , electrical engineering , quantum mechanics , artificial intelligence , psychology , control (management) , psychotherapist , aerospace engineering
This paper deals with the influence of a friction force on a small mobile device, AZARASHI (Seal) mechanism with a 1‐degree of freedom (DOF) in the cases of moving on a slope and drawing a load. This device has a piezoelectric actuator, electromagnet CA that applies a constant friction force and electromagnet CB alternating the friction force by on‐off control. AZARASHI mechanism has the same structure as the inchworm‐like mover. However, AZARASHI mechanism has a smaller number of actuators to be controlled and is driven by a smaller number of steps than the inchworm‐like mover. The motion performance on the slope from 0 to 90 degrees was experimentally investigated using a 1‐DOF device. In addition, the relationship between the displacement on a vertical plane and the friction forces was tested. Under a set of sufficient friction forces, this device was possible to climb even on the vertical plane. The traction load capacity of the 1‐DOF device was also investigated. As a result, the friction forces restricted the traction load capacity. Finally, its traction load capacity was compared with the inchworm‐like mover. The lowest friction force to hold each device restricted their displacement. Copyright © 2010 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.