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A Biologically Inspired Height-Adjustable Jumping Robot

文献类型：期刊论文

作者Ma, Yunqian1,2; Wei, Yuliang1,2; Kong, Deyi1,2
刊名APPLIED SCIENCES-BASEL
出版日期2021-06-01
卷号11
关键词biologically inspired robot jumping robot miniature robot multi-locomotion robot self-right
DOI10.3390/app11115167
通讯作者Ma, Yunqian(myq888@mail.ustc.edu.cn) ; Kong, Deyi(kongdy@iim.ac.cn)
英文摘要This paper presents the design and development of a miniature integrated jumping and running robot that can adjust its route trajectory and has passive self-righting. The jumping mechanism of the robot was developed by using a novel design strategy that combines hard-bodied animal (springtail) and soft-bodied animal (gall midge larvae) locomotion. It could reach a height of about 1.5 m under a load of 98.6 g and a height of about 1.2 m under a load of 156.8 g. To enhance the jumping flexibility of the robot, a clutch system with an adjustable height and launch time control was used such that the robot could freely switch to appropriate jumping heights. In addition, the robot has a shell with passive righting to protect the robot while landing and automatically self-righting it after landing, which makes the continuous jumping, running, and steering of the robot possible. The two-wheel mechanism integrated at the bottom of the housing mechanism provides the robot with horizontal running locomotion, which is combined with the vertical jumping locomotion to obtain different locomotion trajectories. This robot has the functions of obstacle surmounting, track adjustability, and load- and self-righting, which has strong practical application value.
WOS关键词MECHANISM ; DESIGN
资助项目University of Science and Technology of China ; Chinese Academy of Sciences
WOS研究方向Chemistry ; Engineering ; Materials Science ; Physics
语种英语
WOS记录号WOS:000659592600001
出版者MDPI
资助机构University of Science and Technology of China ; Chinese Academy of Sciences
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/123787]  
专题中国科学院合肥物质科学研究院
通讯作者Ma, Yunqian; Kong, Deyi
作者单位1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Mach, Hefei 230031, Peoples R China
2.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230009, Peoples R China
推荐引用方式
GB/T 7714		 Ma, Yunqian,Wei, Yuliang,Kong, Deyi. A Biologically Inspired Height-Adjustable Jumping Robot[J]. APPLIED SCIENCES-BASEL,2021,11.
APA Ma, Yunqian,Wei, Yuliang,&Kong, Deyi.(2021).A Biologically Inspired Height-Adjustable Jumping Robot.APPLIED SCIENCES-BASEL,11.
MLA Ma, Yunqian,et al."A Biologically Inspired Height-Adjustable Jumping Robot".APPLIED SCIENCES-BASEL 11(2021).

入库方式： OAI收割

来源：合肥物质科学研究院

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