Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
Name
556229812-MIT.pdf
Description
Full printable version
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7.72 MB
Format
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Author(s)
Hummel, Robert A. (Robert Andrew)
Advisor(s)
Ian W Hunter.
Alternative Title
Design and fabrication of a 2 degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
Design and fabrication of a 2-DOF hopping robot with parallel architecture using linear Lorentz-force actuators
Two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
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.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 38).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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