Cylinder shaped jumping unit using explosion-characteristics of gunpowder

Daiki Hirata, Yasuyuki Yamada, Takeshi Omuro, Toshio Morita

研究成果: Article査読

抄録

This paper proposes a new jumping unit that using chemical energy. Conventional jumping robots have difficulties to equip both lightweight and high output energy at the same time. In regard to this, chemical energy of black powder was adopted. Using explosives allows jumping robots to get high energy instantaneously. First of all, acceleration and velocity characteristics of the cylinder were clarified by experimental cylinder. The approximate expression of pressure change in the cylinder was derived based on the characteristics. Second, expressions of jumping theory were lead and relationships between some parameters (mass, rod-area, cylinder stroke) and jumping height were simulated. Curves with a peak were given from all of those parameters and existence of optimal value was clarified. The significance of the simulation was shown by jumping motion of about 2000mm by the experiment. Finally, four-legged robot dummy with jumping unit that change direction, control of height and isolated ignition were available, is developed. Trajectory of jumping motion was examined when the direction of cylinder was changed from vertical condition. Effectiveness of proposed method was confirmed from jumping height of 720mm with cylinder angle of 10 degree.

本文言語English
ページ(範囲)547-556
ページ数10
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
78
786
DOI
出版ステータスPublished - 2012
外部発表はい

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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