Dynamic Analysis of Two-Link Hopping Robot with Stopper Mechanisms

DOI

Bibliographic Information

Other Title
  • ストッパ-機構を有する二関節ホッピングロボットの動的解析

Abstract

In this paper, the dynamic behaviors of a two-link hopping robot with two stopper mechanisms are investigated theoretically. In the theoretical analysis, the dynamic behaviors of the two-link hopping robot with two stopper mechanisms are modeled by use of the four phases (phase-A, phase-B, phase-C, phase-D). At the moment when the first joint stops, the state of the system transfers from phase-A to phase-B. Then, at the moment when the second joint stops, the state of the system transfers from phase-B to phase-C. In phase-C, the two-link hopping robot moves in space, and at the moment when the two-link hopping robot lands, the state of the system transfers from phase-C to phase-D. Using the principle of the conservation of momentum and angular momentum, the initial states in the periods of phase-B and phase-C are derived. Furthermore, the numerical simulations have been carried out, and it is confirmed theoretically that the hopping and moving action can be performed successfully.

Journal

Details 詳細情報について

  • CRID
    1390001205593640576
  • NII Article ID
    130004603340
  • DOI
    10.11345/japannctam.54.0.144.0
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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