Realization of Salto Backward Using a Horizontal Bar Exercise Robot. Experimental Results.

Abstract

This paper shows the realization of a horizontal bar exercise robot which flies in the air and lands on its feet. This robot has three links which are connected with two rotational joints and driven by two DC motors. Each actuator is modeled by a damper and a trosion spring of which the setting angle is able to change during the motion. The Kane's method is used to derive equations of motion. In order to find the target values of the control, an animation program is developed by using the integration of these equations. A trial and error method is used to find them. As a result, an iron bar exercise was simulated by two actions during the motion. In this paper a self-standing robot is made to realize the rotation around the iron bar and salto backward after the dismount. An experimental result demonstrates the motion which is conformable with the simulated one.