Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism

Hiroki Mineshita, Takuya Otani, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

Herein, we have developed a humanoid robot that achieves dynamic motion. Focusing on the running motion that is the basis of the motion, the robot has been developed focusing on the pelvic rotation on the frontal plane and the elasticity in leg joints (that changes according to running speed), which are the characteristics of humans during running. However, the variable joint stiffness mechanism that we have developed was large and heavy. Therefore, to make the mechanism smaller and lighter, we shorten the length of the leaf spring. We succeeded in downsizing the mechanism by changing its rectangular shape to trapezoidal, while maintaining strength and elasticity. The variable joint stiffness mechanism thus developed was more flexible, and its weight was reduced from 1.9 kg to 0.7 kg. The mechanism was mounted on the ankle joint, and it was confirmed that the required specifications were satisfied.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer Science and Business Media Deutschland GmbH
Pages355-363
Number of pages9
DOIs
Publication statusPublished - 2021

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume601
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Humanoid
  • Joint stiffness mechanism
  • Leaf spring
  • Running robot
  • Series elastic actuator

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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