2P1-M07 リンク機構を用いた高出力関節機構の提案 : 高出力関節機構の開発(バイオミメティクス・バイオメカトロニクス)

概要

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There are many insects which can jump several times its body length. It is reported that desert locusts can jump five times high (about 250 mm) at the peak using its powerful hind-legs. This high level of mechanical performance comes from a special mechanism formed in the cuticle of the hind-legs of the locusts which has the similar function with the spring. In previous our researches, we proposed the model of high power joint mechanism by mimicking locusts leg structure witch two actuators, the spring and link. And, the model was analyzed using Jacobian Matrix derived from cross product. The result of analysis, it was shown that the model produce power more than 10 times as mounted actuators. In this research, high power joint was developed based on knowledge of previous researches and experimented. The result of experiment, it was shown that the joint mechanism can realize walking and jumping.
2011-05-26