イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2017/02
形態種別	学術雑誌
査読	査読あり
標題	動的可操作度と最大並進加速度を考慮したヘキサロータの構造最適化
執筆形態	共著(筆頭者)
掲載誌名	日本機械学会論文集
掲載区分	国内
出版社・発行元	日本機械学会
巻・号・頁	83(846)
総ページ数	16
担当区分	筆頭著者,責任著者
著者・共著者	伊吹竜也，木曽勝之，安田真大，三平満司
概要	This paper proposes a structural optimization method for a hexrotor. Structure here means the positions and orientations of the six rotors constituting the hexrotor. In the present optimization method, 6-DOF dynamic manipulability and the maximum translational acceleration are simultaneously considered as structural evaluation indices. The former is introduced as a common evaluation index for motion performance, and the latter with hope for payload flying against the gravity force. A special class of hexrotor structure is first proposed to make the optimization problem tractable, where 6-DOF dynamic manipulability can be provided by the simple product of translational manipulability and rotational one. Then, structual optimization problems are defined and a nonlinear optimization technique is applied. Consequently, it is shown that the optimization provides strong symmetry.