Development of Jump Robot with Variable Interlocking Mechanism by Planetary Gear

Iwanori Murakami; Kenta Suzuki; Tsutomu Odaka; Yoshinori Ando; Kou Yamada

doi:10.4028/www.scientific.net/AMM.36.220

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Development of Jump Robot with Variable Interlocking Mechanism by Planetary Gear
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 36Development of Jump Robot with Variable...

Development of Jump Robot with Variable Interlocking Mechanism by Planetary Gear

Abstract:

The biarticular muscle that synchronizes the knee joint with the ankle joint plays an important role in the jumping motion. In order to reproduce the biarticular muscle, in the present article, we have developed a jumping robot with a variable geared mechanism using a planetary gear. When the planetary gear is not used, the ankle joint movement synchronizes with the movement of the knee joint. By using the planetary gear, that rate becomes variable. The robot with two-joint gear mechanism can drive the ankle joint without driving the knee joint. Therefore, the robot can determine the direction of the jump from the movement of the ankle joint. The robot mimics the human jumping motion, and it executes the jump experiment. Therefore, the developed robot was able to satisfactorily mimic human jumping action, and its motion was analyzed.

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Periodical:

Applied Mechanics and Materials (Volume 36)

Pages:

220-227

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.36.220

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Online since:

October 2010

Authors:

Iwanori Murakami, Kenta Suzuki, Tsutomu Odaka, Yoshinori Ando, Kou Yamada

Keywords:

Biarticular Muscle, Jumping Robot, Mechanism, Mechatronics, Moving Robot, Planetary Gear

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References

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