A Tetra-State Hopping Robot Driven by Shape Memory Alloy Spring

Tian Qi Liu; Shu Ping Chen; Jiang Long Guo; Zhi Long Dou; Chun Liu; Qing Chun Zhang

doi:10.4028/www.scientific.net/AEF.2-3.402

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Development of an Autonomous Two-Wheeled Vehicle Robot
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System Development of an Experimental Rocket and an Autonomous Free Falling Mobile Robot
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A Tetra-State Hopping Robot Driven by Shape Memory Alloy Spring
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HomeAdvanced Engineering ForumAdvanced Engineering Forum Vols. 2-3A Tetra-State Hopping Robot Driven by Shape Memory...

A Tetra-State Hopping Robot Driven by Shape Memory Alloy Spring

Abstract:

According to the characteristics of jumping locomotion, a solution of Tetra-state Hopping Robot (for short: THR) actuated by Shape Memory Alloy Spring (for short: SMAS) is presented in this paper. This article establishes a mechanical model of the jumping robot and analyzes the kinematics and the dynamics of the mechanical model. Lagrange method is applied to analyze the dynamics the mechanical model. Meanwhile, a preliminary explanation of the THR flipping phenomenon during the take-off and flight process is conducted from the perspective of momentum moment.

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Info:

Periodical:

Advanced Engineering Forum (Volumes 2-3)

Pages:

402-407

DOI:

https://doi.org/10.4028/www.scientific.net/AEF.2-3.402

Citation:

Cite this paper

Online since:

December 2011

Authors:

Tian Qi Liu, Shu Ping Chen, Jiang Long Guo, Zhi Long Dou, Chun Liu, Qing Chun Zhang

Keywords:

Hopping Robot, SMA, SMA Spring, Tetra-State Cycle

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Creative Commons CC BY 4.0

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