機構の特異姿勢を利用した受動的運動量交換型衝撃吸収ダンパの最適設計

Abstract

When a mechanical system collides with the ground, the impact force may cause damage to its components. Generally, springs and elastic members are installed to prevent the impact. However, it is difficult to overcome this problem because hard springs have a large mass, a spring with a large mass cannot suppress the impact force, and the energy stored in the spring has to be dissipated. On the other hand, Momentum Exchange Impact Damper (MEID) aims to reduce the momentum of the main body by transferring momentum to the weight, and are effective for shock mitigation. From this point of view, we have proposed a passive MEID so far. This is a passive mechanism that achieves momentum exchange and prevents the propagation of the impulsive force by utilizing the singularity of the mechanism. The mechanism does not require any additional actuators or sensors, and is extremely effective in mitigating the impact force. However, there is a problem that the acceleration generated in the body during the motion of the mechanism is not small. In this paper, we propose a passive MEID that reduces the acceleration generated in the main body by changing the constraint of the mechanism, and design it by optimization. The effectiveness of the proposed mechanism is verified through experiments using a prototype.