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Article

Numerical Analysis and Design for a Higher Jumping Rescue Robot Using a Pneumatic Cylinder

[+] Author and Article Information
Hideyuki Tsukagoshi, Masashi Sasaki, Ato Kitagawa, Takahiro Tanaka

Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan

J. Mech. Des 127(2), 308-314 (Mar 25, 2005) (7 pages) doi:10.1115/1.1825440 History: Received January 17, 2004; Revised April 27, 2004; Online March 25, 2005
Copyright © 2005 by ASME
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References

Tsukagoshi,  H., Mori,  Y., Sasaki,  M., Tanaka,  T., and Kitagawa,  A., 2003, “Development of Jumping & Rolling Inspector to Improve the Debris-traverse Ability,” J. Robot. Mechatron., 15(5), pp. 482–490.
Raibert, M. H., 1986, Legged Robots That Balance, MIT Press, Cambridge, MA.
Yamafuji,  Mitsuya  , 1991, “Development and Motion Control of a Jumping Mobile Robot,” JSME, 57(537), pp. 1616–1620 (in Japanese).
Shearer,  J. L., 1956, “Study of Pneumatic Processes in the Continuous Control of Motion with Compressed Air,” Trans. ASME, 78, pp. 233–249.
Moore,  P. R. , 1985, “Compensation in pneumatically actuated servomechanisms,” Trans. Inst. Meas. Control (London), 7(5), pp. 238–244.
Bachmann, J. R., and Surgenor, B. W. 1997, “On Design and Performance of a Closed Circuit Pneumatic Positioning System,” 5th Scandinavian International Conf. on Fluid Power, Linkoping, Sweden May 28–30, Vol. 1.
Saad, Michel A., 1985, Compressible Fluid Flow, Prentice-Hall, Englewood Cliffs, NJ.
Anderson, B. W., 1967, The Analysis and Design of Pneumatic Systems, Wiley, New York.
ISO 6358, 1989, “Pneumatic fluid power—Components using compressible fluids-Determination of Flow-rate characteristics.”
Kagawa, T., 2002, “Energy Comparison of electric and pneumatic actuators,” 5th JFPS International Symposium on Fluid Power, pp. 345–351.
Kitagawa, A., Tsukagoshi, H., Wu, H., and Park, S., 2003, “A Novel Pneumatic Power Source Using Solid-Gas Phase Transition,” Conference of Japan Fluid Power System Society in Autumn (in Japanese), pp. 123–126.

Figures

Grahic Jump Location
Performance of Leg-in-Rotor-II on debris
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Image of the jumping and rolling inspector to search for victims under debris
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Basic structure of Leg-in-Rotor-II
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Pneumatic components and their circuit for jumping
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Process of jumping by a pneumatic cylinder
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Model of heat transfer from the tank to the cylinder
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Transient characteristic just before jumping
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Jumping height affected by the cross sectional area of the cylinder
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Experimental setup to measure the displacement of the cylinder and the pressure
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Pressure inside the cylinder
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Jumping height related to the cross sectional area of the cylinder with constant stroke
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Jumping height with respect to the mass distribution
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Jumping height with respect to the cross sectional are of the cylinder at L=0.15 m
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Conventional model L-in-R-II, which managed to jump over a 60 cm box
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L-in-R-III with a cylinder of the appropriate dimensions which could jump over a 80 cm box
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Comparison of the energy efficiency

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