| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 827010 | Journal of Bionic Engineering | 2010 | 6 Pages |
The size and weight of an actuator tend to increase with actuator power because the actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such as jumping or running is difficult to realize by using simple actuator power. The aim of this research is to develop a high power joint mechanism that mimics the leg mechanism of a locust. The characteristics of the joint mechanism are evaluated using vector and dynamic analysis.The proposed high power joint mechanism consists of a closed link structure comprising four links and a spring. Linear actuators are attached to the top and bottom links, and the joint angle changes by controlling the lengths of the top and bottom links. A spring is located between two of the links, and is contracted using two linear actuators to provide stored force, which can be released instantaneously to produce a higher power response than that available directly from both actuators.The analysis demonstrates how the joint mechanism produces an output with a higher power than the rated input actuator power. The output characteristics of the joint mechanism depend on link length and link conditions.
