バンケル型ロータリエンジンコンプレッサを用いた独立型一脚ロボット

抄録

Pneumatic drives as the power source used in robots have a lighter drive system than hydraulic or electric drives. Another feature is that impact can be absorbed by compressed air. This property is especially effective when the jumping robot lands. However, continuous operation of the pneumatic drive system requires a large compressor to supply high-pressure, large-flow compressed air. As a result, the movement range of the jumping robot has been limited.

In this research, we develop a lightweight, high-pressure, large-flow compressor suitable for mounting on robots. According to the literature, the target value of the compressor is set to less than 5kg , the max discharge flow rate is set to more than 120L / min , and the max pressure is set to more than 0.5MPa. To achieve this goal, we propose a small and lightweight Wankel rotary engine compressor. It can supply high pressure and large flow of compressed air and is suitable for mounting on robots. In addition, we develop a pneumatically driven monopod robot and check the operation of the robot.