WEKO3
アイテム
歩行メカニズムにおける粘弾性着地の効果および動力学解析のための計算論的手法に関する研究
https://doi.org/10.18997/00008784
https://doi.org/10.18997/00008784deeed91b-4fd0-4cb7-9085-17e6205d23e1
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sei_k_407.pdf (3.8 MB)
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| アイテムタイプ | 学位論文 = Thesis or Dissertation(1) | |||||||
|---|---|---|---|---|---|---|---|---|
| 公開日 | 2022-03-24 | |||||||
| 資源タイプ | ||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||
| 資源タイプ | doctoral thesis | |||||||
| タイトル | ||||||||
| タイトル | A Computational Approach to Analyze the Dynamics and Effects of Viscoelastic Ground Contact for Walking Mechanisms | |||||||
| 言語 | en | |||||||
| タイトル | ||||||||
| タイトル | 歩行メカニズムにおける粘弾性着地の効果および動力学解析のための計算論的手法に関する研究 | |||||||
| 言語 | ja | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 著者 |
Batbaatar Dondogjamts
× Batbaatar Dondogjamts
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| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | Since animal bodies are highly complex to be organized biologically, it is not easy to evaluate the advantage of flexibility in the muscularskeletal system in comparison with mechanical rigid bodies. For the reason, a simplification had been implemented in traditional scheme of the reduced degree of freedom mechanisms with well-designed fixed limb trajectory for real world applications, and the best mechanical structure was explored to minimize its energy consumption known in walking linkage mechanisms. As the possible hypothesis, the advantage of high energy conservation effect can be maximized according to a smooth grounding at the touching moment of the toe on the ground. The smooth trajectory itself can be reproduced by closed-linkage walking models, while the effect of the interaction between the toe and ground is unclear and viscoelastic contact may enhance the effect. For the clarification of the hypothesis, a fine computational framework is needed to be established to provide less computational cost and enough accuracy and stability in the analysis. Traditionally, the rigid-body mechanics and contact force analysis were separately studied and developed. In the present study, multibody dynamics approach based on the analytical mechanics was newly integrated with the viscoelastic contact force model, which is able to implement a hysteresis damping phenomenon simply. By using the linkage mechanisms, the elasticity of the grounding was analyzed through the inverse dynamics based on the proposed computational framework involving the multibody dynamics and contact force model implementation. The proposed method was located in an intermediate position between the discrete contact model for a less frequency attachment of bodies and the continuous model for stable attachment phenomenon. In the sense, the method was appropriate for analyses of walking mechanisms with a consistent frequency of the attachment with the ground, which requires a fine reaction force analysis. In the computer experiment as the comparison of typical and simplified walking linkage mechanisms, the proposed method applied to Chebyshev and Theo-Jansen walking mechanisms and demonstrated the required torque in the driving input when those mechanisms were walking on the ground. In an energy analysis, which is defined as the required input-torque integration in a cycle of the leg motion, the perfectly elastic ground contact commonly reduced the energy consumption significantly in the comparison of the coefficient of restitution in the damping factor model by Lankarani and Nikravesh. The result proved the hypothesis of the positive effect of the smooth grounding in the range of the proposed computational approach. It may contribute to providing an criterion not only for a real walking robot design but also assistive devise configurations to absorb unnecessary ground reaction force to prevent the damage to the leg mechanism and enhance a smooth walking pattern. | |||||||
| 目次 | ||||||||
| 内容記述タイプ | TableOfContents | |||||||
| 内容記述 | 1 Introduction||2 Mathematical formulations in multibody system dynamics||3 Foot-ground contact model||4 An integrated computational framework for the energy analysis of rigid closed-loop walking mechanisms||5 Comparison between the proposed method and the other methods||6 Dynamic modelling of the horse locomotion||7 Discussion and Conclusion | |||||||
| 備考 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 九州工業大学博士学位論文 学位記番号：生工博甲第407号 学位授与年月日：令和3年3月25日 | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Closed-loop linkages | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Multibody dynamics (MBD) | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Contact force model | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Computational framework | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Energy consumption | |||||||
| アドバイザー | ||||||||
| 我妻, 広明 | ||||||||
| 学位授与番号 | ||||||||
| 学位授与番号 | 甲第407号 | |||||||
| 学位名 | ||||||||
| 学位名 | 博士（情報工学） | |||||||
| 学位授与年月日 | ||||||||
| 学位授与年月日 | 2021-03-25 | |||||||
| 学位授与機関 | ||||||||
| 学位授与機関識別子Scheme | kakenhi | |||||||
| 学位授与機関識別子 | 17104 | |||||||
| 学位授与機関名 | 九州工業大学 | |||||||
| 学位授与年度 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 令和2年度 | |||||||
| 出版タイプ | ||||||||
| 出版タイプ | VoR | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||
| アクセス権 | ||||||||
| アクセス権 | open access | |||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||
| ID登録 | ||||||||
| ID登録 | 10.18997/00008784 | |||||||
| ID登録タイプ | JaLC | |||||||
