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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    Titel :

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


    Beteiligte:
    Liu, Tian-qi (Autor:in) / Chen, Shu-ping (Autor:in) / Guo, Jiang-Long (Autor:in) / Dou, Zhi-Long (Autor:in) / Liu, Chun (Autor:in) / Zhang, Qing-Chun (Autor:in)


    Erscheinungsdatum :

    2011


    Format / Umfang :

    6 Seiten




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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