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A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator.

Seon-Gyo Yang1, Dong-Jun Lee1, Chan Kim2

  • 1Department of Mechanical and Automotive Engineering, SeoulTech, Seoul 01811, Republic of Korea.

Biomimetics (Basel, Switzerland)
|August 25, 2023
PubMed
Summary
This summary is machine-generated.

We developed a novel linear actuator using a power spring and active clutch for small robots. This design enables small-scale robots to achieve high-speed hopping locomotion and overcome obstacles.

Keywords:
bio-inspired robothopping robotlinear hopping

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Area of Science:

  • Robotics
  • Mechanical Engineering

Background:

  • Hopping locomotion offers advantages for small-scale robots in navigating challenging terrains.
  • Existing designs may face limitations in power and control for effective hopping.

Purpose of the Study:

  • To propose and design a novel high-power linear actuator for small-scale hopping robots.
  • To enable robots to achieve efficient and controlled hopping for obstacle traversal.

Main Methods:

  • The proposed linear actuator utilizes a power spring for consistent torque delivery.
  • An active clutch is integrated to precisely control the actuator's direction and timing.
  • The design focuses on maximizing power output within a compact form factor.

Main Results:

  • The developed hopper robot measures 143 mm and weighs 45.9 g.
  • The robot successfully achieved a hopping height of up to 0.58 m.
  • The power spring and active clutch mechanism demonstrated effective control and power delivery.

Conclusions:

  • The novel linear actuator design successfully enables high-power hopping locomotion in small-scale robots.
  • The integration of a power spring and active clutch provides precise control for takeoff.
  • This technology has the potential to significantly enhance the mobility of micro-robots in complex environments.