332 鉄棒ロボットによる二回宙返りの実現(スポーツ工学2)(OS.07 : スポーツ工学)

概要

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Previous paper shows the realization of single salto backward using a self-standing type horizontal bar exercise robot. Developed robot has three links which are connected with two rotational joints and driven by two DC motors. Each actuator is modeled by a damper and a torsion spring of which the setting angle is able to change during the motion. The Kane's method is used to derive equations of motion. In order to find the target values of the control, an animation program is developed by using the integration of these equations. As a result, a self-standing robot was realized a salto backward after the dismount by using simulated target values. This paper tries to realize the double salto backward that is more difficult and challenging than a single one. After the simulation, the double salto backward needs 7.5rad/s over the horizontal bar. At the first stage of research, this paper shows that this angular velocity is get by using two times of forward giant swing. An experimental result demonstrates the motion which is conformable with the simulated one.
一般社団法人日本機械学会の論文
2001-08-03