Design and development of jumping mechanisms | |
| Author | Artanto, Dian |
| Call Number | AIT Thesis no.ISE-07-14 |
| Subject(s) | Machine design Machinery, Kinematics of |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-14 |
| Abstract | This thesis presents the design and initial development for a jumping robot. A jumping can offer numerous advantages for efficient locomotion to climb the stairs, to explore the rugged terrain, including dealing with obstacles. Like its biological inspiration, the kangaroo, this jumping robot requires an energy storage system to store energy and release it quickly to jump. Two designs of the jumping robot, i.e. the telescoping leg and the articulated leg are proposed. These designs have a same mechanism that constraints the motion to the plane - it is called a planarizer - in order to be easy for monitoring and controlling. To measure the angular horizontal position of these robots, a rotary potentiometer is mounted on the center of planarizer. To measure the height of jumping, a distance infrared sensor is mounted on the upper body of these robots. To measure the body tilt, two distance infrared sensors are mounted on the lower body of these robots. Finally, the experiments with these robot prototypes have demonstrated jumping and hopping in different height, length and speed |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-14 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Pisut Koomsap; |
| Scholarship Donor(s) | Sanata Dharma Foundation, Indonesia - AIT Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |