Wheeled jumping robot by powermodulation using twisted string lever mechanism  

作　　者：Xian-wei LIU Yong-bin JIN Lei JIANG Hong-tao WANG 

机构地区：[1]State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China [2]Center for X-Mechanics,Zhejiang University,Hangzhou 310027,China [3]Institute of Applied Mechanics,Zhejiang University,Hangzhou 310027,China [4]Zhejiang Lab,Hangzhou 311121,China

出　　处：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》2021年第10期767-776,共10页浙江大学学报（英文版）A辑（应用物理与工程）

基　　金：Project supported by the Grant from Zhejiang Lab,China(No.2019KE0AD01)。

摘　　要：This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.

关 键 词：Wheeled jumping robot Twisted string lever mechanism Non-linear transmission ratio 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]