抄録
We have been working on high power joint mechanism by mimicking locusts leg structure. The proposed joint mechanism, which consists of two motors, three pulleys, two wires, one spring, and one link, controls the output link using the tension provided from the motors to wires connected to the link. Operation of either of the two motors enables flexional and extensional motion. With the joint mechanism put into flexion, simultaneous operation of two motors accumulates power in the spring. Shutting down one motor releases power accumulated in the spring to realize rapid motion. Power produced during rapid motion decreases by viscosity resistance from passive motor. Therefore, links length where viscosity resistance of passive motor is the minimum is found to gain high output power. In this paper, viscosity resistance of the joint mechanism was analyzed. The result of analysis, it was shown that viscosity resistance during rapid motion is possible to decrease by shorten output link.
