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Force Analysis of a Bio-inspired and Minimally Actuated Hopping Robot

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2012

Key Words:

Author NameUniversity of AuthorFaculty of Author
Abstract (2. Language): 
The paper derives a mechanical model of a small and minimally actuated intermittent hopping robot by using the virtual work principle and the d’ Alembert’s principle. We analyse the characteristics of ground reacting forces and force-transforms of the robot by taking the friction under general condition into consideration. The paper also reports about hopping simulations and an experimental prototype. The analysis and experimental results show that the hopping robot, based on a non-symmetrical geared six-bar mechanism, can transform the linear force of spring to the nonlinear driving force of hopping motion and potentially overcome obstacles of 6~8 times of its body length by utilizing a single micro-motor as driving actuator. Furthermore, analysis results indicate that there can be the risk of losing mechanical energy by sliding friction if the anti-sliding measures are not effective enough.
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FULL TEXT (PDF): 
PDF icon arastrmx_153796_2_pp_79-83.pdf
  • 2
79-83
  • English

REFERENCES

References: 

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Journal of Control Engineering and Technology (JCET)
JCET Vol. 2 No. 2 April 2012 PP. 79-83 www.ijcet.org ○C World Academic Publishing
83
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