This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is reengineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the video 〈http://www.cm.ctrl.titech.ac.jp/study/jump/home.html〉.
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March 2005
Article
Numerical Analysis and Design for a Higher Jumping Rescue Robot Using a Pneumatic Cylinder
Hideyuki Tsukagoshi,
e-mail: htsuka@ctrl.titech.ac.jp
Hideyuki Tsukagoshi
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
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Masashi Sasaki,
Masashi Sasaki
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
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Ato Kitagawa,
Ato Kitagawa
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
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Takahiro Tanaka
Takahiro Tanaka
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
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Hideyuki Tsukagoshi
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
e-mail: htsuka@ctrl.titech.ac.jp
Masashi Sasaki
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
Ato Kitagawa
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
Takahiro Tanaka
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
Contributed by the Design Automation Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 17, 2004; revised April 27, 2004. Associate Editor: A. A. Shabana.
J. Mech. Des. Mar 2005, 127(2): 308-314 (7 pages)
Published Online: March 25, 2005
Article history
Received:
January 17, 2004
Revised:
April 27, 2004
Online:
March 25, 2005
Citation
Tsukagoshi, H., Sasaki , M., Kitagawa , A., and Tanaka, T. (March 25, 2005). "Numerical Analysis and Design for a Higher Jumping Rescue Robot Using a Pneumatic Cylinder ." ASME. J. Mech. Des. March 2005; 127(2): 308–314. https://doi.org/10.1115/1.1825440
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