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

According to the characteristics of jumping locomotion, a solution Of Tetra-state Hopping Robot (for short: TBR) 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.