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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...

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Detalles Bibliográficos
Autores principales: Yang, Seon-Gyo, Lee, Dong-Jun, Kim, Chan, Jung, Gwang-Pil
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
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.
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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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