00754869
Badal Loungani
00755700
00756378
Venessa Bhagwat
00757482
00757557
Dharani Kishore
00757560
Abstract
The aim of this project is to conceive, design, build and test a long distance jumping
robot weighing less than 30 g. This paper discusses the design, manufacture and
testing phase of the project. The initial robot design has an estimated jumping
distance of 1.45 m. However due to some unforeseen circumstances, a new robot
had to be designed and used for the jumping test. Unfortunately still, the new robot
did not jump.
Design Concept
The design concept was initially inspired by the jumping mechanism of multiple
animals such as squids, fleas and frogs. The main focus was narrowed down to frogs
and fleas as most of the kinetic energy for the jump is obtained from stored strain
energy in their joints, which allowed the jumping mechanism to be replicated easily
with the use of springs.
The primary ideas were based upon four existing lightweight robots designs, which
utilised springs. Compression spring designs were seen as the simplest, however the
release mechanism was deemed too complex. For a minimalistic design,
compressing a spring against the ground and releasing it seemed optimal. The
design of the release mechanism was problematic due to inefficiencies. A pulley
system was considered to load the spring but its release would have potentially
resulted in high friction losses.
In order to maximise the jumping distance, the use of wings was briefly considered
through gliding. However this would mean that extra mechanisms (possibly
actuators) would need to be designed for and this would only result in an increase in
weight. In addition, the wings would also need to be retracted after the jump as the
overall size of the robot was accumulated for in the metric performance.
Finally, it was decided to build a simplified and miniaturised version of the MSU robot
[1]. A pulley system is implemented rather than the ratchet and pawl found in the
original design. As the lever rotates, pushed along by the shaft, the upper body
descends compressing the springs. Beyond maximum point, the lever slips and the
springs are released resulting in a jump. With continued motor rotation, the lever
links again with the shaft and the springs are once more charged. Multiple jumps
could therefore be achieved.
Performance Prediction
Regarding the prediction of the performance, a jumping distance of 1.45 m based on
an initial velocity of 4 ms-1, an estimated drag coefficient of 1.3 and mass of 20 g
were estimated based on projectile motion theory done using fourth order solvers in
MatLab.
Further on, the force required to accelerate the robot to initial velocity was calculated
based on an estimated acceleration distance. Subsequently, the required spring
stiffness was calculated. In addition, the power required was obtained to select the
motor and battery. For the mechanical sector, the expected gear ratio for the final
configuration was 1:625. This ratio allowed the use of a lightweight motor while still
acquiring sufficient torque.
Finally, a structural analysis simulation of the robot showed that the stresses from
manufacturing processes, impact and activating the mechanism were substantially
below the materials yield stress.
Performance Characterization
In terms of performance characterization, it is important to note that the robot
satisfied the design size and mass criteria.
Also, impact testing for expected momentum and structural integrity was successful,
as expected from the structural analysis simulation conducted. In addition, the
components remained fixed in their respective positions after the test verifying the
success.
References
[1] Jianguo Zhao ; Jing Xu ; Bingtuan Gao; Ning Xi ; Cintron, F.J ; Mutka, M.W. ; Li
Xiao. (2013). MSU Jumper: A Single-Motor-Actuated Miniature Steerable Jumping
Robot. [Online] 29 (3), 602-614. Available from:
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6481459
[Accessed 20th February 2015].
APPENDIX I
Figure 1
Figure 2
Figure 2 - Comparison between new robot (left) and original robot (left)