Impulse Force Generator Based on a Serial Chain of Torsion Springs for Catapulting an Object

Abstract

In this paper, we propose an impulse force generator for catapulting an object. The proposed impulse force generator utilizes snap-through buckling of an elastic body. The distinguished feature of the device is to adopt a serial chain of torsion springs with both high elasticity and flexibility as its elastic body. The use of the serial chain of torsion springs enables us to increase the energy density of the elastic body. Experimental results show that the proposed compact and lightweight impulse force generator has high capability of catapulting an object. The generated maximum momentum is of 16 [Ns] in spite that the maximum driving torque necessary for snap-through buckling is only of 21 [Nm].

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

“…Sugiyama (Sugiyama et al, 2005) and Kovac (Kovac et al, 2008) have used prismatic or torsional springs to obtain large power using the accumulated potential energy. Ichikawa (Ichikawa et al, 2011) has used buckling of closed kinematic chain with springs. These methods are effective to obtain instantaneous high force/power, however, its accuracy (performance (ii)) is difficult to be discussed because of large uncertainties and high nonlinearity of modeling and energy transfer.…”