Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles

Shimizu, Tori; Hayashi, Sosuke; Midorikawa, Toshiki; Fujikawa, Takumi; Takane, Eri; Watanabe, Masahiro; Tadakuma, Kenjiro; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/ssrr.2019.8848955

Cited by 7 publications

(2 citation statements)

References 11 publications

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“…In conjunction with the jumping mechanism [19] and the MR fluid gripper [20] proposed in our previous studies that incorporate the IB magnet as their magnetic flux supplier, the gripper in this study possesses a technological novelty in the idea of embedding the IB magnet as a built-in force amplifier, contrary to conventional applications of the IB magnets limited to attraction mechanisms. The amplifier can be easily implemented by including both the IB magnet and its attraction target inside the mechanism structure.…”

Section: Technological Value Of the Outcomementioning

confidence: 99%

Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism

Shimizu

Tadakuma

Watanabe

et al. 2023

IEEE Robot. Autom. Lett.

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Machines such as robotic grippers use powerful actuators or gearboxes to exert large loads at the expense of energy consumption, volume, and mass. We propose a stepless force amplification mechanism that assists clamping by a pair of permanent magnets, in which the external control force required to adjust their distance, and thus the output force, is suppressed by compensation springs. For further sophistication, we invented a new width adjuster using a lever. By separating the actuation of fingers and compensated magnets temporarily, the adjuster eliminated the nonlinear influence of the object width on the clamping force. The prototype gripper for proof of concept revealed that the adjuster successfully linearized the width-force characteristic with an inclination of 0.15 N/mm, which is sufficiently insignificant compared to the major output force of approximately 50 N. The force amplification effect coexisted with this phenomenon, such that the clamping force was amplified to 137.5% while maintaining the energy consumption of a DC motor, and the force-energy efficiency was multiplied by 1.39. Thus, able to be driven by a weaker, smaller, and lighter actuator, the gripper contributes to extension of the operation time of robots with limited power supply.

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Section: Technological Value Of the Outcomementioning

confidence: 99%

Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism

Shimizu

Tadakuma

Watanabe

et al. 2023

IEEE Robot. Autom. Lett.

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“…A bearing is inserted between the control rod and the repulsion magnet to make the attraction magnet independent of the lock's rotation. The authors, other than that, got a reserve thought on this disadvantageous phenomenon and proposed a jumping mechanism using the inertia produced by the powerfully released rod, as reported in authors' other reports on the applied researches of the IB Magnet [19][20].…”

Section: B Clamping Mechanism Using Ib Magnetmentioning

confidence: 99%

Internally-Balanced Magnet Mechanisms Using Magnetic Spring

et al. 2018

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To detach a permanent magnet with a control force much smaller than its original attractive force, the Internally-Balanced Magnetic Unit (IB Magnet) was invented and has been applied to magnetic devices such as wall-climbing robots, ceildangling drones and modular swarm robots. In contrast to its drastic reduction rate on the control force, the IB Magnet has two major problems on its nonlinear spring which cancels out the internal force on the magnet: complicated design procedure and trade-off relationship between balancing precision and mechanism volume. This paper proposes a principle of a new balancing method for the IB Magnet which uses a like-pole pair of magnets as a magnetic spring, whose repulsive force ideally equals the attractive force of an unlike-pole pair exactly. To verify the proposed principle, the authors realized a prototype model of the IB Magnet using magnetic spring and verified through experiments its reduction rate is comparable to those of conventional IB Magnets. Moreover, the authors discussed and realized a robotic clamp as an application example containing proposed the proposed IB Magnets as its internal mechanism.

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