Design, Analysis and Experimental Evaluation of a Gas-Fuel-Powered Actuator for Robotic Hoppers
Huaming Wang, Yunguang Luan, Denny Oetomo, Zhen Wang
IEEE/ASME Transactions on Mechatronics | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2015
Field robots often need to overcome obstacles multiple times their own size when exploring the environment. To address this need, we revisit a concept where a compact mechanical hopping actuator powered by gas-fuel was designed and tested. The idea is further refined, analyzed and realized in this reported study, characterized by a double-piston structure and a magnetic latch. Analysis is performed on the postcombustion dynamics to obtain the takeoff velocity of the actuator, which determines its jumping height. An experimental setup is constructed to test the design in indoor and outdoor environments. Laboratory (indoor) tests were carried out to obtain the takeoff parameters of the actuato..View full abstract
Awarded by Natural Science Foundation of Jiangsu Province
Awarded by Fundamental Research Funds for the Central Universities
This work was supported in part by the Natural Science Foundation of Jiangsu Province under Award BK2011735, the Fundamental Research Funds for the Central Universities (NS2014047), and Priority Academic Program Development of Jiangsu Higher Education Institutions.