A Passive Jumping Mechanism

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9194

Phanindra Tallapragada, Jake Buzhardt, Robert W. Seney

引用次数: 1

Abstract

In this paper we present a novel unactuated mechanism that utilizes gravity to jump. The passive jumper is a hoop whose center of mass does not coincide with its geometric center. When the hoop rolls down an inclined plane, the center of mass of the hoop moves along a cycloid. As the hoop gains speed moving down the inclined plane, the normal reaction between the hoop and the plane becomes insufficient to ensure contact between the hoop and the plane. This allows the hoop to ‘jump’. Experiments and analysis show that such a jump can be significant, with the jump height from the plane being as high as one body length (diameter) of the hoop. The mechanics of the passive jumping hoop powered by gravity investigated in this paper can inspire the design of actuated jumping robots that can both roll and jump.

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被动跳跃机制

本文提出了一种利用重力进行跳跃的新型非驱动机构。被动跳线是一个质量中心与其几何中心不重合的环。当圆环沿斜面滚动时，圆环的质心沿摆线运动。当圆环沿斜面向下运动速度加快时，圆环与斜面之间的法向反力不足以保证圆环与斜面的接触。这使得铁环可以“跳跃”。实验和分析表明，这样的跳跃可以是显著的，从平面的跳跃高度是一个身体的长度(直径)的环。本文所研究的被动重力弹跳环的力学特性对设计既能滚又能跳的驱动型弹跳机器人具有一定的启发作用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.