Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. Thi...
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| Үндсэн зохиолч: | |
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| Бусад зохиолчид: | , , |
| Формат: | article |
| Хэл сонгох: | испани |
| Хэвлэсэн: |
2018
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| Нөхцлүүд: | |
| Онлайн хандалт: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882 http://ridda2.utp.ac.pa/handle/123456789/5785 |
| Шошгууд: |
Шошго байхгүй, Энэхүү баримтыг шошголох эхний хүн болох!
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| _version_ | 1869451864344363008 |
|---|---|
| author | Takuma, T. |
| author2 | Takai, K. Iwakiri, Y. Kase, W. |
| author2_role | author author author |
| author_browse | Iwakiri, Y. Kase, W. Takai, K. Takuma, T. |
| author_facet | Takuma, T. Takai, K. Iwakiri, Y. Kase, W. |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Takuma, T. Takai, K. Iwakiri, Y. Kase, W. |
| dc.date.none.fl_str_mv | 2018-11-26 2018-12-04T14:32:13Z 2018-12-04T14:32:13Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882 http://ridda2.utp.ac.pa/handle/123456789/5785 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882/2828 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 101-108 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Tendon-driven robot; vertical jumping; body design |
| dc.title.none.fl_str_mv | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | PA_8cecd1ff1f283ef41bb2bdeccccd1230 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | PA |
| network_name_str | oai la ref anni2 |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5785 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire SetTakuma, T.Takai, K.Iwakiri, Y.Kase, W.Tendon-driven robot; vertical jumping; body designAlthough a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.Universidad Tecnológica de Panamá2018-11-262018-12-04T14:32:13Z2018-12-04T14:32:13Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1882http://ridda2.utp.ac.pa/handle/123456789/5785Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 101-108reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1882/2828info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/57852019-11-29T17:34:17Z |
| spellingShingle | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set Takuma, T. Tendon-driven robot; vertical jumping; body design |
| status_str | publishedVersion |
| title | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| title_full | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| title_fullStr | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| title_full_unstemmed | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| title_short | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| title_sort | Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set |
| topic | Tendon-driven robot; vertical jumping; body design |
| url | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1882 http://ridda2.utp.ac.pa/handle/123456789/5785 |