期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 28, 期 5, 页码 1007-1018出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2012.2198510
关键词
Biologically inspired robot; biomimetics; catapult mechanism; flea robot; jumping robot; microrobot; smart composite microstructure (SCM); shape memory alloy (SMA) spring
类别
资金
- Research Center Programs through National Research Foundation of Korea
- Ministry of Education, Science and Technology [2009-0082824, 2009-0070058, 2009-0087640]
- National Research Foundation of Korea [2010-50243, 2009-0070058] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Fleas can jump more than 200 times their body length. They do so by employing a unique catapult mechanism: storing a large amount of elastic energy and releasing it quickly by torque reversal triggering. This paper presents a flea-inspired catapult mechanism for miniature jumping robots. A robotic design was created to realize the mechanism for the biological catapult with shape memory alloy (SMA) spring actuators and a smart composite microstructure. SMA spring actuators replace conventional actuators, transmissions, and the elastic element to reduce the size. The body uses a four-bar mechanism that simulates a flea's leg kinematics with reduced degrees of freedom. Dynamic modeling was derived, and theoretical jumping was simulated to optimize the leg design for increased takeoff speed. A robotic prototype was fabricated with 1.1-g weight and 2-cm body size that can jump a distance of up to 30 times its body size.
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