TY - CHAP
T1 - Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage
AU - Mineshita, Hiroki
AU - Otani, Takuya
AU - Kuroiwa, Yuji
AU - Sakaguchi, Masanori
AU - Kawakami, Yasuo
AU - Lim, Hun ok
AU - Takanishi, Atsuo
N1 - Funding Information:
Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by NSK Foundation for the Advancement of Mechatronics and the JSPS KAKENHI Grant No. 21H05055. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; the force sensors received cooperation from Tec Gihan Co., Ltd.
Publisher Copyright:
© 2022, CISM International Centre for Mechanical Sciences.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Dynamic motion robot
KW - Humanoid
KW - Joint stiffness mechanism
UR - http://www.scopus.com/inward/record.url?scp=85133190064&partnerID=8YFLogxK
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U2 - 10.1007/978-3-031-06409-8_24
DO - 10.1007/978-3-031-06409-8_24
M3 - Chapter
AN - SCOPUS:85133190064
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 231
EP - 237
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer Science and Business Media Deutschland GmbH
ER -