Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set

Takuma, T.; Takai, K.; Iwakiri, Y.; Kase, W.

dc.contributor		es-ES
dc.creator	Takuma, T.
dc.creator	Takai, K.
dc.creator	Iwakiri, Y.
dc.creator	Kase, W.
dc.date	2018-11-26
dc.date.accessioned	2018-12-04T14:32:13Z
dc.date.available	2018-12-04T14:32:13Z
dc.identifier	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/5785
dc.description	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.	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Universidad Tecnológica de Panamá	es-ES
dc.relation	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882/2828
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source	Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 101-108	es-ES
dc.subject	Tendon-driven robot; vertical jumping; body design	es-ES
dc.title	Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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