Abstract
This paper proposes the design and performance evaluation of a miniaturized continuous hopping robot RHop for unstructured terrain. The hopping mechanism of RHop is realized by an optimized geared symmetric closed-chain multi-bar mechanism that is transformed from the eight-bar mechanism, and the actuator of RHop is realized by a servo motor and the clockwork spring, thereby enabling RHop to realize continuous hopping while its motor rotates continuously only in one direction. Comparative simulations and experiments are conducted for RHop. The results show that RHop can realize better continuous hopping performance, as well as the improvement of energy conversion efficiency from 70.98% to 76.29% when the clockwork spring is applied in the actuator. In addition, comparisons with some state-of-the-art hopping robots are conducted, and the normalized results show that RHop has a better energy storage speed.
Highlights
With the development of science and technology, robots have become indispensable automation equipment in human society by assisting or replacing humans in various situations
According to hopping characteristics of the hopping robot, hopping robots can be classified into two categories: continuous hopping robot and intermittent hopping robot
Due totothe inherent characteristic in kinematics of the hopping mechanism, it will add unnecessary unnecessary angularto momentum to the robot system if there iscomponent a horizontal of ground angular momentum the robot system if there is a horizontal of component ground reaction force reaction force (GRF) of in take-off, the direction take-off, thereby endangering the posture
Summary
With the development of science and technology, robots have become indispensable automation equipment in human society by assisting or replacing humans in various situations. The hopping robot was first proposed by Oberth and Seifert [8] in. The one-leg jumping model proposed by Raibert [9] became the theoretical research basis for later single-leg jumping robots. A continuous hopping robot can recharge its hopping energy in the flying/landing phase, and immediately hop again after contacting the ground, while the intermittent hopping robot needs to realize its energy recharge and hopping attitude adjustment in another ground phase. Continuous hopping robots usually adopt hydraulic [12,13] and pneumatic [14] actuators to realize continuous actuation, which can enable the continuous hopping robot to have high power density and fast drive-response. The intermittent hopping robots usually use their motor as their actuator and use springs as an elastic components [15,16]
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