Dynamic Analysis of Two-Link Hopping Robot with Stopper Mechanisms
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- Kojima Hiroyuki
- Gunma University
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- Kato Gustavo
- Gunma University
Bibliographic Information
- Other Title
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- 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
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- NCTAM papers, National Congress of Theoretical and Applied Mechanics, Japan
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NCTAM papers, National Congress of Theoretical and Applied Mechanics, Japan 54 (0), 144-144, 2005
National Committee for IUTAM
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Details 詳細情報について
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- CRID
- 1390001205593640576
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- NII Article ID
- 130004603340
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed