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Volume 8
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Article

A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator

by
Seon-Gyo Yang
1,
Dong-Jun Lee
1,
Chan Kim
2 and
Gwang-Pil Jung
1,*
1
Department of Mechanical and Automotive Engineering, SeoulTech, Seoul 01811, Republic of Korea
2
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Republic of Korea
*
Author to whom correspondence should be addressed.
Biomimetics 2023, 8(4), 339; https://doi.org/10.3390/biomimetics8040339
Submission received: 29 June 2023 / Revised: 24 July 2023 / Accepted: 31 July 2023 / Published: 1 August 2023
(This article belongs to the Special Issue Design, Fabrication and Control of Bioinspired Soft Robots)
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Abstract

Hopping locomotion has the potential to enable small-scale robots to maneuver lands quickly while overcoming obstacles bigger than themselves. To make this possible, in this paper, we propose a novel design of a high-power linear actuator for a small-scale hopper. The key design principle of the linear actuator is to use a power spring and an active clutch. The power spring provides a near constant torque along the wide range of output displacement. The active clutch controls the moving direction and operation timing of the linear actuator, which enables the hopper to take off at the right timing. As a result, the hopper has a size of 143 mm, a mass of 45.9 g, and hops up to 0.58 m.
Keywords: bio-inspired robot; hopping robot; linear hopping bio-inspired robot; hopping robot; linear hopping

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MDPI and ACS Style

Yang, S.-G.; Lee, D.-J.; Kim, C.; Jung, G.-P. A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator. Biomimetics 2023, 8, 339. https://doi.org/10.3390/biomimetics8040339

AMA Style

Yang S-G, Lee D-J, Kim C, Jung G-P. A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator. Biomimetics. 2023; 8(4):339. https://doi.org/10.3390/biomimetics8040339

Chicago/Turabian Style

Yang, Seon-Gyo, Dong-Jun Lee, Chan Kim, and Gwang-Pil Jung. 2023. "A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator" Biomimetics 8, no. 4: 339. https://doi.org/10.3390/biomimetics8040339

APA Style

Yang, S.-G., Lee, D.-J., Kim, C., & Jung, G.-P. (2023). A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator. Biomimetics, 8(4), 339. https://doi.org/10.3390/biomimetics8040339

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