| dc.contributor.advisor | Ian W Hunter. | en_US |
| dc.contributor.author | Hummel, Robert A. (Robert Andrew) | en_US |
| dc.contributor.other | Massachusetts Institute of Technology. Dept. of Mechanical Engineering. | en_US |
| dc.date.accessioned | 2010-04-28T15:38:07Z | |
| dc.date.available | 2010-04-28T15:38:07Z | |
| dc.date.copyright | 2009 | en_US |
| dc.date.issued | 2009 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/54477 | |
| dc.description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. | en_US |
| dc.description | Cataloged from PDF version of thesis. | en_US |
| dc.description | Includes bibliographical references (p. 38). | en_US |
| dc.description.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. | en_US |
| dc.description.statementofresponsibility | by Robert A. Hummel. | en_US |
| dc.format.extent | 39 p. | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | Massachusetts Institute of Technology | en_US |
| dc.relation.requires | CD-ROM contains 14 files in .avi format and a copy of the thesis in .doc format. | en_US |
| dc.rights | M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission. | en_US |
| dc.rights.uri | http://dspace.mit.edu/handle/1721.1/7582 | en_US |
| dc.subject | Mechanical Engineering. | en_US |
| dc.title | Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators | en_US |
| dc.title.alternative | Design and fabrication of a 2 degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators | en_US |
| dc.title.alternative | Design and fabrication of a 2-DOF hopping robot with parallel architecture using linear Lorentz-force actuators | en_US |
| dc.title.alternative | Two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators | en_US |
| dc.type | Thesis | en_US |
| dc.description.degree | S.B. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
| dc.identifier.oclc | 556229812 | en_US |
