Large Force Generation Method Exploiting Oscillatory Motion of Manipulator Driven by Van Der Pol Oscillator

Effect of an oscillatory motion of a manipulator on large force generation is investigated in this paper. Two methods for oscillating a manipulator are examined using simulations. One of the methods is a simpler method that produces a harmonic wave as a command for a manipulator. When the frequency of the harmonic wave is appropriately adjusted, the manipulator can produce a larger force than a manipulator driven by a traditional command. However, the generated force is not sustainable. To solve the problem, the other method for oscillating a manipulator uses a nonlinear oscillator. Simulation results demonstrate that a property of the nonlinear oscillator, entrainment property, is effective in generation of a large sustainable force