投球ロボットの遠投性能を最大化する関節変速比と運動の設計

抄録

This paper proposes that a robot body design method which considers proper joint gear ratios in each joint. In this design method, other body parameters and motion patterns are also designed which include a degrees of freedom (DOFs) number and link parameters. The joint gear ratios are defined as design parameters of continuous values, therefore motor characteristics will change smoothly, and it will become an advantage in a calculation convergence point of view. A proposed algorithm was applied to a ball throwing robot model, and its body and motion were designed for maximizing a ball throwing performance. A calculation result, whose all gear ratios are fixed as 1, was compared with a calculation result, whose gear ratios were designed. A ball flying distance with the designed gear ratios were about 2 times of that with the fixed gear ratios, and an effectiveness of the proposed body design method was verified.