Paper:

# Model-Based Analysis of Yo-yo Throwing Motion on Single-Link Manipulator

## Hokuto Miyakawa, Takuma Nemoto, and Masami Iwase

Tokyo Denki University

5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

This paper presents a method for analyzing the throwing motion of a yo-yo based on an integrated model of a yo-yo and a manipulator. Our previous integrated model was developed by constraining a model of a white painted commercial yo-yo and a model of a plain single-link manipulator with certain constraining conditions placed between two models. However, for the yo-yo model, the collisions between the string and the axle of the yo-yo were not taken into account. To avoid this problem, we estimate some of the yo-yo parameters from the experiments, thereby preserving the functionality of the model. By applying the new integrated model with the identified parameters, we analyze the throwing motion of the yo-yo through numerical simulations. The results of which show the ranges of the release angle and the angular velocity of the joint of the manipulator during a successful throw. In conclusion, the proposed analysis method is effective in analyzing the throwing motion of a manipulator.

*J. Robot. Mechatron.*, Vol.32 No.4, pp. 822-831, 2020.

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