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

研究成果: Chapter

抄録

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.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer Science and Business Media Deutschland GmbH
ページ355-363
ページ数9
DOI
出版ステータスPublished - 2021

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
601
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 材料力学
  • 機械工学
  • コンピュータ サイエンスの応用

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