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一个小规模的跳槽设计,使用基于电源弹的线性执行器
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
概括
我们为小型机器人开发了一种使用动力弹和主动离合器的新型线性执行器. 这种设计使小规模的机器人能够实现高速跳跃运动并克服障碍物.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 跳动机器人为小型机器人在艰难的地形上航行提供了优势.
- 现有的设计可能面临功率和控制的限制,以有效跳跃.
研究的目的:
- 为小型跳跃机器人提出和设计一种新的高功率线性执行器.
- 为了使机器人能够在跨越障碍物时实现高效和可控的跳跃.
主要方法:
- 拟议的线性执行器使用动力弹来提供一致的扭矩.
- 集成了一个主动离合器,以精确控制执行器的方向和时间.
- 设计重点在于在一个紧的形式因素中最大限度地提高功率输出.
主要成果:
- 开发的吸水机器人尺寸为143毫米,重量为45.9克.
- 机器人成功地实现了高达0.58米的跳跃高度.
- 动力弹和主动离合器机制证明了有效的控制和功率传输.
结论:
- 新型的线性执行器设计成功地使小规模机器人能够实现高功率的跳跃机动.
- 电源弹和主动离合器的集成提供了精确的起飞控制.
- 这项技术有可能在复杂的环境中显著提高微型机器人的移动性.
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