Katsuaki Suzuki¹, Yuya Nishida¹, Takashi Sonoda², Kazuo Ishii^1
1Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan
²Nishinippon Institute of Technology, 1-11 Aratsu, Kanda, Miyako, Fukuoka 800-0394, Japan
pp. 144-152
ABSTRACT
Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.

ARTICLE INFO
Article History
Received 18 November 2019
Accepted 28 August 2020

Keywords
High-power joint
Link mechanism
Cam mechanism
Design principle

JAALR1308

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