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  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
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  •   UTP-Ridda2
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Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set

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Author
Takuma, T.
Takai, K.
Iwakiri, Y.
Kase, W.
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Abstract
Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.
URL
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882
URI
http://ridda2.utp.ac.pa/handle/123456789/5785
Collections
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
License
info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/4.0/

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  • facebook.com/UTPrepositorio
  • @utprepositorio

Recolectado por:

El OAI de este repositorio: http://ridda2.utp.ac.pa/oai/
Repositorio Institucional de Documentos Digitales de Acceso Abierto de la Universidad de Tecnológica de Panamá.
Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

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Universidad Tecnológica de Panamá