等身大ヒューマノイド型跳躍ロボット用の力学エネルギー蓄積式直動燃焼アクチュエータの開発(熱工学,内燃機関,動力など)

概要

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In recent years, athletic humanoid robots have been popular, but the electrical motors equipped in their joints and heavy batteries do not allow them the more quick actions. Another type of actuators of light, compact and no-auxiliary, are required to bring them more quick motion. In this study, novel combustion linear actuator, which stores once a combustion driving force to springs as mechanical energy, was developed. First, a high-speed direct observations of the combustion behavior in a model constant volume chamber was carried out for a high performance combustion condition. Second, to verify the performance of the actuator for heavy load, an operational test of lifting was made. The test showed the successful lift performance for 27kg mass par an unit. Prototype model of full-scale jumping robot, which is planed to be driven by the actuators, is also shown in this paper.
2010-01-25