非線形バネSATの特性の解析とロボットへの応用

概要

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The wire utilized in the wire-driven system is broken when it's received a strong impulse force, since the most of motors used for humanoid robots have the reduce gear which has high reduce gear ratio. If the power transmission mechanism has the mechanical compliance, the impulse force will be absorbed. We had proposed a non-linear spring device named SAT (Stiffness Adjustable Tendon) to equip mechanical compliance for the power transmission mechanism of robots. In this paper, we had examined the relationship between the tension and the displacement of SAT in order to make clear the non-linear spring characteristics of SAT. We had developed the one legged robot to verify that the robot which is equipped with the mechanical compliance can achieve the dynamic motion such as the landing motion. We also had shown experimentally that the wire-driven system using SAT can control its joint stiffness, joint angle and joint torque. For the purpose we had developed a one joint robot system with mechanical compliant joint.
2006-02-28