Ciliary Vibration Drive Mechanism for Active Scope Cameras
Masashi Konyo*, Kazuya Isaki*, Kazunari Hatazaki*,
Satoshi Tadokoro*, and Fumiaki Takemura**
*Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, Aoba-ku, Sendai 980-8579, Japan
**Department of Mechanical Systems Engineering, Okinawa National College of Technology, 905 Aza Henoko, Nago, Okinawa 905-2192, Japan
The active scope camera we proposed has active mobility using a ciliary vibration drive mechanism for long flexible cables. The physical details have yet to be clarified. We determined it based on detailed physical phenomena to design an optimal ciliary vibration drive. We discuss the reasons for design efficiency based on the analysis of dynamic models of ciliary parts, focusing on (1) the characteristic vibration of the cilia and (2) stick-slip contact. We constructed a pseudo linear spring model and a stick-slip friction model to evaluate these phenomena. We determined optimal driving vibration frequencies and the inclined angle of cilia through experiments and analysis. Qualitative comparisons with the dynamic models and the results of experiments indicated the effective physical factors of the activation mechanism. A prototype of the active scope camera showed good performance in practical rescue activities.
Satoshi Tadokoro, and Fumiaki Takemura, “Ciliary Vibration Drive Mechanism for Active Scope Cameras,” J. Robot. Mechatron., Vol.20, No.3, pp. 490-499, 2008.
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