Design of a jumping machine using self-energizing spring

摘要

The purpose of this research is to make a machine or a robot jump high using small output actuators. It is sometimes necessary for a robot to jump over a big obstacle. This usually requires large output actuators. But it is difficult to find light actuator with large output. A jumping machine with a self-energizing spring system is introduced, which is designed to jump using small actuators and springs. Power for the self-energizing system is generated using small actuators. And it can jump highly. Computer simulations and experiments are performed to prove the validity of the jumping machine and the self-energizing system.