Title :
Kinematic analysis of jumping leg driven by artificial muscles
Author :
Zhong, Jun ; Fan, Jizhuang ; Zhao, Jie ; Zhang, Wei
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper presents a jumping four-bar mechanism using pneumatic muscle actuators. The mechanism has three joints and each one is powered by one artificial muscle; jumping and restoring action is achieved by muscle contracting force and spring respectively. Kinematic analysis is performed in landing and airborne phase respectively. Vertical jumping simulation is performed according to the prototype parameters and results demonstrate the kinematic analysis and show the torques supplied by muscles can meet the jumping requirement.
Keywords :
electroactive polymer actuators; force control; pneumatic actuators; robot kinematics; torque control; airborne phase; artificial muscle; jumping action; jumping four-bar mechanism; jumping leg; jumping requirement; kinematic analysis; landing phase; muscle contracting force; pneumatic muscle actuator; restoring action; spring; torque; vertical jumping simulation; Force; Joints; Kinematics; Mathematical model; Muscles; Pneumatic systems; Robots; Artificial Muscles; jumping mechanism; kinematic analysis; kinematic simulation;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6283387
