Numerical Analysis and Design for a Higher Jumping Rescue Robot Using a Pneumatic Cylinder
Author:
Tsukagoshi Hideyuki1, Sasaki Masashi1, Kitagawa Ato1, Tanaka Takahiro1
Affiliation:
1. Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
Abstract
This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is reengineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the video 〈http://www.cm.ctrl.titech.ac.jp/study/jump/home.html〉.
Publisher
ASME International
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Reference11 articles.
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Mitsuya
, 1991, “Development and Motion Control of a Jumping Mobile Robot,” JSME, 57(537), pp. 1616–1620 (in Japanese). 4. Shearer, J. L.
, 1956, “Study of Pneumatic Processes in the Continuous Control of Motion with Compressed Air,” Trans. ASME, 78, pp. 233–249. 5. Moore, P. R. et al., 1985, “Compensation in pneumatically actuated servomechanisms,” Trans. Inst. Meas. Control (London), 7(5), pp. 238–244.
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11 articles.
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