Development of Linear DC Motor Surrounded by Four Faces for Hopping Robot and Experiments of Continuous Hopping.

摘要

In this paper, first, the linear DC motor surrounded by four faces for the direct-drive hopping robot is developed. Second, the experiments of the continuous hopping by the simple hopping robot consisting of the linear DC motor and the holding springs have been carried out, and the usefulness of the linear DC motor surrounded by four faces for the hopping robot is confirmed. The rotor and the stator of the linear DC motor are designed as the body part and the leg part of the hopping robot. The body part consists of samarium-cobalt rare earth permanent magnets and yoke. The leg part is constructed with coil and coil frame. Then, the continuous hopping motion control is performed by the cycle operation of the sequential control system. This sequential control system consists of the potential energy store control and the body acceleration control. From the experimental results, it is confirmed that the continuous hopping motion control can be performed successfully.