Development of the simulator of motion analyses for actuator systems composed of the leaf spring and motors

There are several approaches for the jump mechanism of the robot. Compressed air and coiled spring are usually utilized for the power source of the jump robot. In this paper, the jump mechanism for the robot using the leaf spring and motors is examined. This actuator system can be applied to the smooth motion and the jump motion. The author developed the computer simulatior of this actuator system. The beam element considering the motion of the large displacement motion is applied to model the leaf spring. The simulation results are shown to evaluate this simulator.