展開脚機構を上下運動させるための5節リンク機構の設計と試作

抄録

Currently, a mobile robot with deployable leg in wetland was proposed. Five-bar linkage was adopted to push out the deployable legs. A prototype of the five-bar linkage controlled with two servomotors was manufactured to test its applicability with respect to motion and statics. An experiment was conducted to confirm the lifting operation of the deployable leg and pushing operation of a load. As a result, the expected lifting motion has been achieved and the torque produced by the servomotor has almost met the demands for the movement of the prototype.