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Advances in space technology have opened up opportunities for human beings to work in outer space. It is expected that the upsizing of manned space facilities, such as the International Space Station, will further this trend. A unique means of transportation is necessary to ensure that human beings can move about effectively in microgravity environments. Here, we propose a tether-based mobility system that moves the user by winding a tether attached to a structure at the destination. To overcome the attitude instability of the user during tether winding, the Tether Space Mobility Device (TSMD) attitude control method for winding a tether is applied and examined through numerical analysis. The proposed analytical model for motion analysis consists of one flexible body and three rigid bodies. The contact force between the tether and the TSMD inlet is determined. Using the numerical analysis model, we investigated the effect of slit shape during tether extension and winding.
Satoshi Takayama; Shoichiro Takehara; Ryota Yuasa. Contact Analysis of Mobility Devices Based on Tension. Modelling 2021, 2, 370 -384.
AMA StyleSatoshi Takayama, Shoichiro Takehara, Ryota Yuasa. Contact Analysis of Mobility Devices Based on Tension. Modelling. 2021; 2 (3):370-384.
Chicago/Turabian StyleSatoshi Takayama; Shoichiro Takehara; Ryota Yuasa. 2021. "Contact Analysis of Mobility Devices Based on Tension." Modelling 2, no. 3: 370-384.
Recently, advancements in space technology have opened up more opportunities for human beings to work in outer space. It is expected that upsizing of manned space facilities, such as the International Space Station, will further this trend. Therefore, a unique means of transportation is necessary to ensure that human beings can move about effectively in microgravity environments. In the present study, we propose a tether-based mobility system, which moves the user by winding a tether attached to a structure at the destination. However, there is a problem in that the attitude of the user becomes unstable during winding of the tether. Therefore, a Tether Space Mobility Device (TSMD) attitude control method for winding a tether is examined through numerical analysis. The proposed analytical model consists of one flexible body and three rigid bodies. The contact force between the tether and the inlet is considered. We verified the validity of the proposed model through experiments. Furthermore, we proposed a TSMD attitude control method during tether winding while focusing on changes in the system’s rotational kinetic energy. Using the proposed analytical model, the angular velocity of a rigid body system is confirmed to converge to 0 deg/s when control is applied.
Shoichiro Takehara; Yu Uematsu; Wataru Miyaji. Tether Space Mobility Device Attitude Control during Tether Extension and Winding. Machines 2018, 6, 61 .
AMA StyleShoichiro Takehara, Yu Uematsu, Wataru Miyaji. Tether Space Mobility Device Attitude Control during Tether Extension and Winding. Machines. 2018; 6 (4):61.
Chicago/Turabian StyleShoichiro Takehara; Yu Uematsu; Wataru Miyaji. 2018. "Tether Space Mobility Device Attitude Control during Tether Extension and Winding." Machines 6, no. 4: 61.
In this study, we proposed a new mobility device using tether under the microgravity named Tether Space Mobility Device (TSMD). TSMD is the mobility device that moves user by winding tether which is attached to the structure in the destination. However, this system has problems that TSMD user moves with rotation because the center of gravity of the user deviates from tensile line of action of tether. Therefore, we focused on winding of tether and proposed the attitude control method of TSMD with controlled winding speed. The effectiveness of winding control was inspected by the experiment. The experiment is performed in the two-dimensional microgravity environment. Winding control is that winding speed becomes slow when the acceleration of the experiment equipment exceeded the acceleration threshold. In addition, winding acceleration set small just after the experiment start. In this paper, we producted an experimental equipment that excludes the arm mechanism installed for attitude control. We examined the effectiveness of this system by experiments simulating microgravity using an experimental equipment that was smaller and lighter than conventional equipment.
Ryota Yuasa; Shoichiro Takehara; Yu Uematsu. Experimental study on the winding control of tether. The Proceedings of the Symposium on the Motion and Vibration Control 2017, 2017.15, A05 .
AMA StyleRyota Yuasa, Shoichiro Takehara, Yu Uematsu. Experimental study on the winding control of tether. The Proceedings of the Symposium on the Motion and Vibration Control. 2017; 2017.15 ():A05.
Chicago/Turabian StyleRyota Yuasa; Shoichiro Takehara; Yu Uematsu. 2017. "Experimental study on the winding control of tether." The Proceedings of the Symposium on the Motion and Vibration Control 2017.15, no. : A05.
Wataru Miyaji; Shoichiro Takehara; Yu Uematsu. Coupled motion analysis of tether with time-varying length and rigid bodies. Transactions of the JSME (in Japanese) 2017, 83, 16 -00530.
AMA StyleWataru Miyaji, Shoichiro Takehara, Yu Uematsu. Coupled motion analysis of tether with time-varying length and rigid bodies. Transactions of the JSME (in Japanese). 2017; 83 (848):16-00530.
Chicago/Turabian StyleWataru Miyaji; Shoichiro Takehara; Yu Uematsu. 2017. "Coupled motion analysis of tether with time-varying length and rigid bodies." Transactions of the JSME (in Japanese) 83, no. 848: 16-00530.
Wire rope and pulley devices are used in various machines. To use these machines more safely, it is necessary to analyze the behavior of the contact between them. In this study, we represent a wire rope by a numerical model of a flexible body. This flexible body is expressed in the absolute nodal coordinate formulation (ANCF), and the model includes the normal contact force and the frictional force between the wire rope and the pulley. The normal contact force is expressed by spring-damper elements, and the frictional force is expressed by the Quinn method. The advantage of the Quinn method is that it reduces the numerical problems associated with the discontinuities in Coulomb friction at zero velocity. By using the numerical model, simulations are performed, and the validity of this model is shown by comparing its results with those of an experiment. Through numerical simulations, we confirm the proposed model for the contact between the wire rope and the pulley. We confirmed that the behavior of the wire rope changes when both the bending elastic modulus of the wire rope and the mass added to each end of the wire rope are changed.
Shoichiro Takehara; Masaya Kawarada; Kazunori Hase. Dynamic Contact between a Wire Rope and a Pulley Using Absolute Nodal Coordinate Formulation. Machines 2016, 4, 4 .
AMA StyleShoichiro Takehara, Masaya Kawarada, Kazunori Hase. Dynamic Contact between a Wire Rope and a Pulley Using Absolute Nodal Coordinate Formulation. Machines. 2016; 4 (1):4.
Chicago/Turabian StyleShoichiro Takehara; Masaya Kawarada; Kazunori Hase. 2016. "Dynamic Contact between a Wire Rope and a Pulley Using Absolute Nodal Coordinate Formulation." Machines 4, no. 1: 4.
Yu Uematsu; Shoichiro Takehara; Wataru Miyaji. Study on variable speed control of winding tether. The Proceedings of the Dynamics & Design Conference 2016, 2016, 421 .
AMA StyleYu Uematsu, Shoichiro Takehara, Wataru Miyaji. Study on variable speed control of winding tether. The Proceedings of the Dynamics & Design Conference. 2016; 2016 ():421.
Chicago/Turabian StyleYu Uematsu; Shoichiro Takehara; Wataru Miyaji. 2016. "Study on variable speed control of winding tether." The Proceedings of the Dynamics & Design Conference 2016, no. : 421.
Wataru Miyaji; Shoichiro Takehara. A110 Control of winding tether under micro gravity. The Proceedings of the Symposium on the Motion and Vibration Control 2015, 2015.14, 46 -49.
AMA StyleWataru Miyaji, Shoichiro Takehara. A110 Control of winding tether under micro gravity. The Proceedings of the Symposium on the Motion and Vibration Control. 2015; 2015.14 ():46-49.
Chicago/Turabian StyleWataru Miyaji; Shoichiro Takehara. 2015. "A110 Control of winding tether under micro gravity." The Proceedings of the Symposium on the Motion and Vibration Control 2015.14, no. : 46-49.