Background
Methods
Improvement for the breaststroke
Electrical parts and other specifications
Items | Specifications |
---|---|
Size | (H) 925 mm (W) 270 mm (D) 119 mm |
Weight | 7.4 kg |
Actuators (dynamixel: Robotis Corp.) | RX28: 2.5 Nm (at 14.8 V) MX28: 3.1 Nm (at 14.8 V) MX28: 7.3 Nm (at 14.8 V) |
DOF | Total: 24 DOFs Arm: 2 arms × 6 DOF Waist: 2 DOF Leg: 2 legs × 3 DOF |
Controller | CM700 (Robotis Corp.) |
Battery | Li-Po 14.8 V 1550 mhA × 2 |
Communication | ZigBee module ZIG-110A |
Segment | Weight [g] | Added weight [g] | Volume [cm3] | Specific gravity |
---|---|---|---|---|
Hip | 426 | 410 | 1.04 | |
Thigh × 2 | 1562 | 1460 | 1.07 | |
Shank × 2 | 954 | 748 | 1.28 | |
Foot × 2 | 106 | 200 | 0.53 | |
Head and neck | 368 | 335 | 679 | 1.02 |
Upper arm × 2 | 660 | 579 | 1.14 | |
Elbow × 2 | 256 | 215 | 1.19 | |
Forearm × 2 | 300 | 306 | 0.98 | |
Breast × 2 | 1039 | 1514 | 0.7 | |
Waist | 838 | 583 | 1460 | 0.97 |
Whole upper body | 3461 | 918 | 4753 | 0.92 |
Whole lower body | 3048 | 2818 | 1.08 | |
Total | 7427 | 7571 | 0.98 |
Creation of swimming motion
Experimental method
Simulation method
Results and discussion
Experimental results
Examination by simulation
Condition | Shoulder joints | Knee joints | Swimming speed [m/s] | Increase amount [%] |
---|---|---|---|---|
1 | Measured | Measured | 0.118 | 0 |
2 | Target | Measured | 0.162 | 37 |
3 | Measured | Target | 0.166 | 41 |
4 | Target | Target | 0.21 | 78 |