A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator

Seon Gyo Yang, Dong Jun Lee, Chan Kim, Gwang Pil Jung

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

Hopping locomotion has the potential to enable small-scale robots to maneuver lands quickly while overcoming obstacles bigger than themselves. To make this possible, in this paper, we propose a novel design of a high-power linear actuator for a small-scale hopper. The key design principle of the linear actuator is to use a power spring and an active clutch. The power spring provides a near constant torque along the wide range of output displacement. The active clutch controls the moving direction and operation timing of the linear actuator, which enables the hopper to take off at the right timing. As a result, the hopper has a size of 143 mm, a mass of 45.9 g, and hops up to 0.58 m.

Original languageEnglish
Article number339
JournalBiomimetics
Volume8
Issue number4
DOIs
StatePublished - Aug 2023

Keywords

  • bio-inspired robot
  • hopping robot
  • linear hopping

Fingerprint

Dive into the research topics of 'A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator'. Together they form a unique fingerprint.

Cite this