Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
| Autor: | Hummel, Robert A. (Robert Andrew) |
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| Jazyk: | angličtina |
| Rok vydání: | 2009 |
| Předmět: | |
| Druh dokumentu: | Diplomová práce |
| Popis: | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. Cataloged from PDF version of thesis. Includes bibliographical references (p. 38). This thesis presents the design and fabrication of a 2-DOF robotic leg using linear Lorentz-force actuators arranged in a parallel configuration. The decision to use linear actuators, a parallel architecture, and Lorentz-force motors was made because of distinct differences between these designs and the alternatives, notably, their lower weight, better resolution, and high bandwidth. We have shown that a robot of this construction can jump at least three times as high as the stroke length of its actuators, recording a maximum jump height of 48 mm using a stroke of 15 mm. This finding supports the feasibility of a larger robot based on this design. by Robert A. Hummel. S.B. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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