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

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. Thi...

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Autores Principales: Takuma, T., Takai, K., Iwakiri, Y., Kase, W.
Formato: Artículo
Idioma: Español
Publicado: Universidad Tecnológica de Panamá 2018
Materias:
Tendon-driven robot; vertical jumping; body design
Acceso en línea: http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882
http://ridda2.utp.ac.pa/handle/123456789/5785
id RepoUTP5785
recordtype dspace
spelling RepoUTP57852019-11-29T17:34:17Z Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set Takuma, T. Takai, K. Iwakiri, Y. Kase, W. Tendon-driven robot; vertical jumping; body design 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. 2018-11-26 2018-12-04T14:32:13Z 2018-12-04T14:32:13Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882 http://ridda2.utp.ac.pa/handle/123456789/5785 spa http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882/2828 info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Universidad Tecnológica de Panamá 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
institution Universidad Tecnológica de Panamá
collection Repositorio UTP – Ridda2
language Español
topic Tendon-driven robot; vertical jumping; body design
spellingShingle Tendon-driven robot; vertical jumping; body design
Takuma, T.
Takai, K.
Iwakiri, Y.
Kase, W.
Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
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.
format Artículo
author Takuma, T.
Takai, K.
Iwakiri, Y.
Kase, W.
author_sort Takuma, T.
title Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
title_short Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
title_full Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
title_fullStr Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
title_full_unstemmed Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
title_sort body design of tendon-driven jumping robot using single actuator and wire set
publisher Universidad Tecnológica de Panamá
publishDate 2018
url http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882
http://ridda2.utp.ac.pa/handle/123456789/5785
_version_ 1796209859721428992
score 12.043409

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