遊脚足部の着地時刻の早まり/遅れ情報に基づく歩行機械の対地適応機構の研究 : 第2報,対地適応機構を有する歩行機械の動特性(機械要素,潤滑,工作,生産管理など)

概要

論文の詳細を見る
This paper has proposed the range of design parameters of a walking machine for a leg-disabled persons and aged persons. ln order to make clear this range, we presented its dynamic model with consideration of joint clearances and elasticity of legs. A general model for analyzing contact conditions-collision, stick and slip-between bodies has been introduced for dynamic simulation of motions at several states of walking including stumbling and falling of the machine. In order to realize a stable walking a delay time of clutch control has been introduced, and its appropriate value has been clarified. The influences of joint clearance, leg stiffness and center of gravity on the stability of walking have been analyzed. The region of leg stiffness and center of gravity by which walking machine can walk stably have been made clear. A prototype of the walking chair has been designed and manufactured based on the simulation result. While walking on terrain with random steps, the body attitude angle of the prototype has been kept within ± 2 degree.
社団法人日本機械学会の論文
2003-03-25