Design of a Higher Jumping Rescue Robot with the Optimized Pneumatic Drive

摘要

This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is re-engineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the following video. http://www.cm.ctrl.titech.ac.jp/study/jump/home.html.