2026-09-19T01:27:23Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544772022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Ian W Hunter.
Hummel, Robert A. (Robert Andrew)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:38:07Z
2010-04-28T15:38:07Z
2009
2009
http://hdl.handle.net/1721.1/54477
556229812
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 38).
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.
by Robert A. Hummel.
S.B.
39 p.
eng
Massachusetts Institute of Technology
CD-ROM contains 14 files in .avi format and a copy of the thesis in .doc format.
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
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
Thesis
application/pdf
Publication
unknown
unknown
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