猫宙返りに関する一考察
| Autor: | Nishinakamura, Kenichi |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2004 |
| Předmět: | |
| Zdroj: | 平成15年度アストロダイナミクスシンポジウム:講演後刷り集 = ISAS Proceedings of 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers. :162-167 |
| ISSN: | 0918-8053 |
| Popis: | 本稿では、非ホロノミックな姿勢変更として知られている猫宙返り運動について考察を行った。はじめに、ひねり運動についてまとめ、猫宙返り(猫ひねり)運動は中立軸に垂直な2つの軸まわりのトルク入力による2入力3軸制御の運動とした。ここでは角運動量保存が非ホロノミック拘束となっている。次に、猫を2つの剛体円柱と柔軟な関節からなるモデルとし、回転運動中のコーニング効果の寄与を調べるための数値解析を行った。 In this paper, nonholonomic posture change is dealt with. In particular, the twist motion of a free-falling cat is analyzed. The twist motion is well known as 'Falling cat phenomenon', then it was researched by many researches. There are nonholonomic constraints in the 'Falling cat phenomenon' the same as free flying space robot systems. At first, classified was twist motion, and then the twist motion of a free falling cat is defined as nonholonomic posture change. Secondly, by modeling a cat to two rigid cylinders with flexible joint, contribution of the coning effect to the twist motion was calculated. As a result of this calculation, it is concluded that initial attitude differs contribution of the coning effect to the twist motion of a free-falling cat. In order to change internal attitude of a cat, internal torque is generated between upper body and lower body. And then the internal torque works in transverse plane. Because internal torque is orthogonal to twist axis of a cat, the cat turns around the twist axis. This way to input the orthogonal torque to twist axis is applied to 2-wheel satellite, spacecraft with flexible joint, or maybe gymnastics. 資料番号: AA0046652026 |
| Databáze: | OpenAIRE |
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