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A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator
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 lin...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452063/ https://www.ncbi.nlm.nih.gov/pubmed/37622944 http://dx.doi.org/10.3390/biomimetics8040339 |
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author | Yang, Seon-Gyo Lee, Dong-Jun Kim, Chan Jung, Gwang-Pil |
author_facet | Yang, Seon-Gyo Lee, Dong-Jun Kim, Chan Jung, Gwang-Pil |
author_sort | Yang, Seon-Gyo |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-10452063 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-104520632023-08-26 A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator Yang, Seon-Gyo Lee, Dong-Jun Kim, Chan Jung, Gwang-Pil Biomimetics (Basel) Article 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. MDPI 2023-08-01 /pmc/articles/PMC10452063/ /pubmed/37622944 http://dx.doi.org/10.3390/biomimetics8040339 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Yang, Seon-Gyo Lee, Dong-Jun Kim, Chan Jung, Gwang-Pil A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title | A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title_full | A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title_fullStr | A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title_full_unstemmed | A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title_short | A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator |
title_sort | small-scale hopper design using a power spring-based linear actuator |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452063/ https://www.ncbi.nlm.nih.gov/pubmed/37622944 http://dx.doi.org/10.3390/biomimetics8040339 |
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