Nonlinear Vibration Analysis of Phased-controlled Actuator Capable of Movement inside Iron Structures
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Abstract
In recent years, an iron structures that form the framework of buildings, bridges, and other structures have become enormous. As a result, workers are performing hazardous work such as welding and cutting at high altitudes. Due to a falling birth rate and aging population, Japan has a shortage of workers in various fields. Automation using robots is thus promoted at in various fields. In this study, a phase-controlled actuator is proposed as a power source for robots. A two-degree-of-freedom nonlinear vibration model of the actuator is theoretically analyzed. A static analysis of the actuator movement is also carried out. It is found that the movement characteristics of the actuator can be predicted based on the theoretical analysis results. Furthermore, it is verified that the results of the theoretical analysis well agree with the measurement results obtained in device tests. A single phase-controlled actuator can play the role of several motors. Furthermore, if this phase-controlled actuator is equipped with a micro camera, visual inspection of iron structures can be performed.
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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
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