抄録
This paper describes an epoch-making pneumatic driving unit which enables the generation of high-speed motion aiming a higher throw and jump realized by a robot. The proposed unit, named MB cylinder, is basically composed of a pneumatic cylinder, a permanent magnet, a portable tank, and small valves. Since the magnet plays a role to enhance the rapid release function of pneumatic energy instead of using a big and heavy valve, the pressure inside the cylinder can be kept in high condition and can generate high speed with light structure. The height control method of MB cylinder and its design method as well as the analysis of the performance of MB cylinder are also described in this paper. After the developed unit is installed on both the throwing device and the jumping robot, the validity of the proposed methods is experimentally verified in addition to discussion on its application to the rescue operation.
