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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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.
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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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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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Performance of Leg-in-Rotor-II on debris



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