Motion Control of a Robot Composed of Three Serial-Links with Curved Contour. 2nd Report, Several Motions of the Robot.

摘要

In this study, the authors elaborated a robot composed of three serial links with curved contours. The outer contour of each link is made of a combination of large and small curvatures, and the links are connected serially. The outer two links of the robot have the same configuration although the middle one is different. A DC servomotor is installed in each of the outer two links, which can rotate freely round the connected joint. Then the three serial links can constitute a part of a large arc at a certain angle by controlling the motion of the outer two links. This robot could perform several actions using dynamic interference forces between the links. In the previous study, the robot succeeded in standing up from a prone position on the floor by inducing large vibration on all links by swinging the outer links. This study describes three types of motion performed by the robot. The first motion is a falling down and standing up action. Simulation and experimental results concerning this motion are given. The robot could fall down without shock by forming a part of a large arc and stand up by virtue of dynamic interference force. The second motion is locomotion by peristaltic motion, in which the robot accomplished a locomotion velocity of 220 mm/min. The third one is ascending a step. A step of 120 mm height was climbed over by this robot, using initial potential energy when it fell down from an upright position.