Development of a Leg Mechanism for Soft Landing Based on Biological Motion |
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| Authors: | KIMURA Hitoshi OTAKI Yoshihiko ITO Shusaku INOU Norio |
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| Affiliation: | KIMURA Hitoshi1,*,OTAKI Yoshihiko2,ITO Shusaku1,and INOU Norio1 1 Department of Mechanical and Control Engineering,Tokyo Institute of Technology,Tokyo 1528552,Japan 2 NSK Ltd.,1418560,Japan |
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| Abstract: | 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.The landing model consists of two periods.Jerk is minimized in the first period and force is minimized in the second period.In comparison with other landing models,this model is specialized for soft landing motion protecting an objective part.Given all mechanisms ... |
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| Keywords: | soft landing biological motion leg mechanism cam and wire mechanism |
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