抄録
A bird like jumping robot using Slide-Worm Gear has been developed successfully. The Slide-Worm Gear consists of a slidable worm and worm wheel. This mechanism can select one of three action modes by restraining one of the motions. In case of worm mode, the worm slide motion is restrained and the worm turning motion is transfer to the worm wheel turning motion as usual. In case of rack-pinion mode, the worm turning motion is restrained, and the worm slide motion is transfer to the worm wheel turning motion. And in case of screw mode, the worm wheel turning motion is restrained, and the worm turning motion is transfer to the worm slide motion. This robot applied the Scott-Russel mechanism and a spring. The leg moves by the worm mode, spring is compressed by the screw mode and the robot jumps by the rack-pinion mode. A single mechanism works triple ways.
