抄録
For the effective use of motor power, an appropriate gear ratio has to be selected according to the robot task and motion. Because a jumping robot, in particular, requires both high torque and high velocity properties through the motion, a varying gear ratio is necessary. Moreover, it has to be optimally designed and realized. In this paper, we design a jumping robot with a non-circular gear that changes the gear ratio through the motion for the higher jumping. Based on statics, the gear ratio is optimized and change of the gear ratio is obtained by a simulation-based design considering the robot dynamics. A jumping robot is prototyped and a non-circular gear is synthesized. From the experimental results, the energy loss of the experimental system is discussed.
