A combined series-elastic actuator & parallel-elastic leg no-latch bio-inspired jumping robot

被引:35
作者
Hong, Chong [1 ]
Tang, Dewei [1 ]
Quan, Qiquan [1 ]
Cao, Zhuoqun [1 ]
Deng, Zongquan [1 ]
机构
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China
基金
中国国家自然科学基金;
关键词
Bio-inspired design; Energy capacity; Frog-inspired robot; Milli-robotics; ENERGY-STORAGE; CATAPULT MECHANISM; DESIGN; LOCOMOTION; MUSCLES; TENDON;
D O I
10.1016/j.mechmachtheory.2020.103814
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Compared with the catapult mechanism widely employed by small jumping robots, recently proposed jumping strategies based on series-elastic actuators (SEA) without latch mechanisms perform better in terms of agility, structural robustness and maneuverability. However, in some practical applications, they have difficulty in effectively storing energy before the push-off. This paper presents a novel no-latch jumping strategy inspired by frogs, achieving highly effective energy storage. The jumping strategy combines an SEA with a parallel-elastic linkage, which allows one motor to rotate in one direction to store the elastic energy and automatically trigger its release. Combined with this strategy, a frog-inspired robotic leg mechanism is designed. The jumping process is analysed in detail and the kinematic and dynamic models are derived. Bars' dimensions and springs' parameters are determined by the optimization to maximize the energy-storing capacity. The simulation is performed to predict the jumping performance. A 100.7 g prototype is fabricated and jumps to a height of 1.3 m with slight aerial body rotation. The energy-storing capacity of the robot is 18.1 J/Kg. (C) 2020 Elsevier Ltd. All rights reserved.
引用
收藏
页数:18
相关论文
共 46 条
[1]   Vertical jumping in Galago senegalensis:: the quest for an obligate mechanical power amplifier [J].
Aerts, P .
PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY B-BIOLOGICAL SCIENCES, 1998, 353 (1375) :1607-1620
[2]  
[Anonymous], IEEE ASME T MECHATRO
[3]   Jumping robots: a biomimetic solution to locomotion across rough terrain [J].
Armour, Rhodri ;
Paskins, Keith ;
Bowyer, Adrian ;
Vincent, Julian ;
Megill, William .
BIOINSPIRATION & BIOMIMETICS, 2007, 2 (03) :S65-S82
[4]   Robust jumping performance and elastic energy recovery from compliant perches in tree frogs [J].
Astley, Henry C. ;
Haruta, Alison ;
Roberts, Thomas J. .
JOURNAL OF EXPERIMENTAL BIOLOGY, 2015, 218 (21) :3360-3363
[5]   The mechanics of elastic loading and recoil in anuran jumping [J].
Astley, Henry C. ;
Roberts, Thomas J. .
JOURNAL OF EXPERIMENTAL BIOLOGY, 2014, 217 (24) :4372-4378
[6]   Evidence for a vertebrate catapult: elastic energy storage in the plantaris tendon during frog jumping [J].
Astley, Henry C. ;
Roberts, Thomas J. .
BIOLOGY LETTERS, 2012, 8 (03) :386-389
[7]   Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism [J].
Bai, Long ;
Zheng, Fan ;
Chen, Xiaohong ;
Sun, Yuanxi ;
Hou, Junzhan .
APPLIED SCIENCES-BASEL, 2019, 9 (01)
[8]  
BAI T, 2015, MATH PROBL ENG
[9]   Jump stabilization and landing control by wing-spreading of a locust-inspired jumper [J].
Beck, Avishai ;
Zaitsev, Valentin ;
Ben Hanan, Uri ;
Kosa, Gabor ;
Ayali, Amir ;
Weiss, Avi .
BIOINSPIRATION & BIOMIMETICS, 2017, 12 (06)
[10]  
BIEWENER AA, 1988, J EXP BIOL, V137, P191