DEVELOPMENT OF A LEG MECHANISM FOR SOFT LANDING BASED ON BIOLOGICAL MOTION

摘要

With jumping mechanisms, soft landing motion is important to protect loads and the mechanisms. This study proposes a leg mechanism for soft landing based on biological motion. Human jumping motion with a load suggests a unique motion for soft landing. In comparison with other models, this model is specialized for soft landing motion protecting an objective part. Given all mechanisms have mass, such model is useful in practical application. For the purpose of realizing the landing motion, this study proposes a new leg mechanism for soft landing. The mechanism achieved quick variable transmission with cam and wire. Design process of the cam is explained with simulation result. Robustness of the landing method is also described. The prototype of leg mechanism is examined by landing experiment.