Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle
| Autor: | Taichi Okumura, Daisuke Nakanishi, Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: |
McKibben pneumatic muscle
Leg-type robot Jumping Knee joint Mechanical design Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 10, Iss 1, Pp 1-12 (2023) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-023-00250-2 |
| Popis: | Abstract The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this study, we focus on the jumping motion of a leg-type robot and use an elliptical pulley whose moment arm changes depending on the robot’s posture. To confirm the effectiveness of the elliptical pulley, the relationship between the knee joint pulley (patella) shape and jumping height was analyzed by simulation, and the shape of the patella maximizing jumping height was determined. It was shown that an elongated elliptical patella shape is more effective for the jumping motion than a circular one. Furthermore, the effectiveness of the analytically determined patella shape was confirmed by experiments using an actual robot. |
| Databáze: | Directory of Open Access Journals |
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