Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis
The size and weight of an actuator tend to increase with actuator power because the actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such as jumping or running is difficult to realize by using simple actuator power. The aim of this research is to develop a high power joint mechanism that mimics the leg mechanism of a locust. The characteristics of the joint mechanism are evaluated using vector and dynamic analysis. The proposed high power joint mechanism consists of a closed link structure comprising four links and a spring. Linear actuators are attached to the top and bottom links, and the joint angle changes by controlling the lengths of the top and bottom links. A spring is located between two of the links, and is contracted using two linear actuators to provide stored force, which can be released instantaneously to produce a higher power response than that available directly from both actuators. The analysis demonstrates how the joint mechanism produces an output with a higher power than the rated input actuator power. The output characteristics of the joint mechanism depend on link length and link conditions.
high power joint locust leg structure bionic robotics Jacobian matrix
Yuya Nishida Takashi Sonoda Kazuo Ishii
Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka, Japan The University of Kitakyushu, 1-1 Hibikino, Wakamatsu, Kitakyushu, Fukuoka, Japan
国际会议
The 3rd International Conference of Bionic Engineering(第三届国际仿生工程会议ICBE10)
珠海
英文
218-223
2010-09-14（万方平台首次上网日期，不代表论文的发表时间）