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Table 1 Numerical value of each parameter of the robot

From: Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle

\(L_{\textrm{u}}\)

Upper link length

415 mm

\(L_{\textrm{l}}\)

Lower link length

415 mm

\(L_{\textrm{m}}\)

Length between link center axis and MPA mounting position

23 mm

\(L_{\textrm{11}}\)

Length between MPA mounting position of upper link and knee joint

340 mm

\(L_{\textrm{12}}\)

Length between MPA mounting position of lower link and knee joint

85 mm

\(L_{\textrm{21}}\)

Length between wire mounting position of upper link and knee joint

260 mm

\(L_{\textrm{22}}\)

Length between wire mounting position of lower link and knee joint

85 mm

\(M_{\textrm{w}}\)

Waist weight

1002 g

\(M_{\textrm{u}}\)

Upper link weight

255 g

\(M_{\textrm{l}}\)

Lower link weight

297 g

\(M_{\textrm{a}}\)

Ankle weight

409 g