Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

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 ac...

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Bibliographic Details
Published in:Applied sciences 2019-01, Vol.9 (1), p.13
Main Authors: Bai, Long, Zheng, Fan, Chen, Xiaohong, Sun, Yuanxi, Hou, Junzhan
Format: Article
Language:English
Subjects:
Actuators
Automation
Clockwork
continuous hopping
Decision making
Design
Design analysis
Energy
Energy conversion
Energy conversion efficiency
Energy storage
hopping robot
International conferences
Jumping
jumping robot
Kinematics
mobile robot
Robots
Servomotors
single actuator
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app9010013