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

Author:

Yang Seon-Gyo1,Lee Dong-Jun1,Kim Chan2,Jung Gwang-Pil1ORCID

Affiliation:

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

2. School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Republic of Korea

Abstract

Hopping locomotion has the potential to enable small-scale robots to maneuver lands quickly while overcoming obstacles bigger than themselves. To make this possible, in this paper, we propose a novel design of a high-power linear actuator for a small-scale hopper. The key design principle of the linear actuator is to use a power spring and an active clutch. The power spring provides a near constant torque along the wide range of output displacement. The active clutch controls the moving direction and operation timing of the linear actuator, which enables the hopper to take off at the right timing. As a result, the hopper has a size of 143 mm, a mass of 45.9 g, and hops up to 0.58 m.

Funder

Korea Institute for Advancement of Technology(KIAT) grant funded by the Korea Government

Publisher

MDPI AG

Subject

Molecular Medicine,Biomedical Engineering,Biochemistry,Biomaterials,Bioengineering,Biotechnology

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