OS24-6 Development of Antagonistic High Power Joint Mechanism with Cams

Title:	OS24-6 Development of Antagonistic High Power Joint Mechanism with Cams
Publication:	ICAROB2020
Volume:	25
Pages:	263-266
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2020.OS24-6
Author(s):	Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii
Publication Date:	January 13, 2020
Keywords:	high power joint mechanism, Link mechanism, Cam mechanism
Abstract:	Acquiring flexible and agile behaviors as seen in biological systems, the robot can achieve acrobatic movements such as jumping and throwing. These acrobatic movements are expected to extend the range of robot activity. In this research, we propose a special mechanism using a pair of motors, springs and cams, which has three functions: normal operation, instantaneous operation and variable rigidity. Then, we derived a mathematical model of the mechanism and discussed the input-output characteristics of the mechanism by changing the design parameters, and analyzed the difference between the theoretical and measured results.
PDF File:	https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS24/OS24-6.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/