Abstract
AbstractThis 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.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call