We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. By mounting it on a crawler mechanism, this paper proposes a parallel mechanism mobile robot. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as carrying an object by making use of its shape and getting over a bump by control of its center of gravity or zmp. In general, for a crawler robot to get over a vertical bump, friction is necessary in the vertical direction of the bump. The proposed sequence of getting over a bump does not rely on friction. Furthermore, cooperation of two or more such robots gains functionalities such as forming three-dimensional structures. Using two robots, we verify that the 4R robot can elevate the 5R robot, which enables the latter to reach a certain height in which it cannot alone. We analyze the statics of this motion to evaluate the necessary joint torque of the 4R robot.
M. Yoshikawa, H. Kuninaka, N. Inaba, Y. Tsuda, M. Fujimoto, M. Abe, T. Yada, O. Mori, H. Yano, J, Kawaguchi, S. Watanabe, R. Nakamura, Hayabusa, Hayabusa2 and Solar Sail Team
40th Scientific Assembly of the Committee on Space Research (COSPAR) 招待有り
O. Mori, T. Saiki, Y. Shirasawa, Y. Mimasu, Y. Tsuda, S. Hirotaka, H. Kato, J. Kawaguchi, R. Funase, H. Yano, R. Nakamura, S. Matsuura, D. Yonetoku, M. Yoshikawa
Asia Oceania Geosciences Society (AOGS2014) 2014年7月28日 招待有り
K. Akatsuka, T. Chujo, O. Mori, Y. Shirasawa H. Toyota, T. Nonomura, J. Kawaguchi
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月29日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
J. Matsumoto, S. Kikuchi, T. Chujo, G. Ono, Y. Shirasawa, O. Mori
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月29日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
Y. Teramoto, T. Hamasaki, J. Kawaguchi, T. Saiki, O. Mori
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月29日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
J. Kikuchi, T. Mizumori, T. Chujo, S. Kitao, Y. Shirasawa, O. Mori
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
T. Mizumori, Y. Shirasawa, O. Mori, H. Tsunoda, R. Inoue, S. Kitao
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
R. Inoue, Y. Shirasawa, O. Mori, T. Mizumori, S. Kitao
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
T. Chujo, G. Ono, J. Matsumoto, S. Kikuchi, O. Mori, Y. Shirasawa
24th Workshop on Astrodynamics and Flight Mechanics 2014年7月28日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
H. Yano, R. Nakamura, S. Matsuura, Y. Sekine, M. Toyoda, J. Aoki, F. Yoshida, N. Takato, D. Kinoshita, D. Yonetoku, M. Yoshikawa, O. Mori, Solar System Small Body Exploration WGT, Solar Power Sail WG
Jozef Van Der Ha, Yuya Mimasu, Yuichi Tsuda, Osamu Mori
24th AAS/AIAA Space Flight Mechanics Meeting
This paper gives a detailed evaluation of the solar and thermal radiation accelerations acting on the IKAROS solar sail and its spacecraft body during its operational mission from June to December 2010. In particular, the predicted temperatures are compared with actual in-flight measurements on the sail membrane as well as on the body. The results show fairly good correspondences in most cases but a few appreciable deviations have also been observed. The simulation results indicate that the magnitude of the thermal radiation perturbations on the solar sail trajectory is only about one percent of the solar radiation and may be neglected in view of the considerable uncertainties in the solar radiation force.
Yasutaka Satou, Nobukatsu Okuizumi, Hiraku Sakamoto, Hiroshi Furuya, Go Ono, Yoji Shirasawa, Osamu Mori
AIAA Science and Technology Forum and Exposition (AIAA SciTech 2014)
This paper addresses the deformation properties of the IKAROS membrane to identify the IKAROS' higher out-of-plane stiffness, which was higher than expected. IKAROS' flight data showed that the out-of-plane deformation of the membrane was smaller than that predicted preflight by numerical simulations. A possible cause is the initial deformation of the IKAROS membrane, which is induced by the initial curvature of the thin film solar cells and the reflection control devices. In order to examine the effects of the initial deformation on the out-of-plane stiffness, nonlinear finite element analyses were carried out with shell elements for the 1/4 IKAROS membrane using the initial curvatures of the thin-film components. The results of the numerical simulations indicated that the on-orbit IKAROS membrane was nonflat due to the initial curvature of the thin-film components. The out-of-plane deformation with the initial deformation was found to be smaller than the deformation of the ideal flat membrane, and the numerical results qualitatively agreed with the IKAROS' flight data. As the initially deformed membrane increases the out-of-plane stiffness, which determines the deformation properties of the membrane, the bending stiffness is significant for the simulation of nonflat membrane structures. Based on the results, the mechanics of the higher out-of-plane stiffness of the IKAROS membrane was identified: it is the effects of the initial deformation of the membrane, which is globally propagated by the local deformation of initial curvatures of the thin film components.
Y. Satou, N. Okuizumi, G. Ono, H. Furuya, H. Sakamoto, Y. Shirasawa, O. Mori
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月30日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
T. Chujo, N. Hayashi, O. Mori, Y. Shirasawa, R. Funase
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月30日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月30日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
Y. Mimasu, S. Taniguchi, H. Takeuchi, Y. Shirasawa, K. Yonekura, O. Mori
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月30日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月29日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)
T. Mizumori, Y. Shirasawa, T. Saiki, O. Mori, J. Kawaguchi
23rd Workshop on Astrodynamics and Flight Mechanics 2013年7月29日 Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency(JAXA)(ISAS)