研究者情報 | 神奈川大学

ミネシタ　ヒロキ Mineshita Hiroki 峯下　弘毅所属神奈川大学工学部機械工学科職種助教
発表年月日	2022/07
発表テーマ	Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage
発表学会名	ROMANSY 24 - Symposium on Robot Design, Dynamics and Control
主催者	CISM-IFToMM
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	Udine, Italy
発表者・共同発表者	Hiroki Mineshita, Takuya Otani, Yuji Kuroiwa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, and Atsuo Takanishi
概要	A large joint output is required for the robot to perform dynamic motions. Most previous robots output power only with actuators, with a lot of energy. On the other hand, humans perform with high efficiency by storing and releasing energy by tendons. When trying to simulate it with robots, the actuator and elastic element are arranged in series. This mechanism becomes complicated, large and heavy. Therefore, we propose a novel joint mechanism reducing the size and weight by designing using a 5-bar linkage. To make it easy to use for the joint mechanism, we propose to combine the 5-bar linkage and the 4-bar linkage. We developed an ankle joint of the robot with this mechanism. While demonstrating the same performance as the previous mechanism, we succeeded in reducing the size by 20% and the weight by 0.7 kg.