Abstract
This paper describes the simulation and experiment about a spring-motor coupling system. A system including a spring shows vibrating responses also in velocity space and our concept is to use a velocity peak for a motion. Biological systems seem also using the property. We made a mathematical model of the system and confirmed by simulation that arm angular velocity of the system is instantaneously higher than that without any spring. We analyzed the dynamical properties of the system, and proposed a design criteria using 'Velocity Expansion Factor.' We also experimentally confirmed the effect by a pitching motion.
