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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    Title :

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


    Contributors:


    Publication date :

    2011


    Size :

    6 Seiten




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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