Authors: Caleb McDougal
Mentors: Nathan Usevitch
Insitution: Brigham Young University
Managing difficult terrain poses a major obstacle for current robotics. Everything from search and rescue to extraterrestrial exploration involves complex controls in unpredictable environments. One potential solution to handling such terrain is a robot that can jump. This could bypass the complex terrain handling and increase the speed at which long distances could be covered. While current robots can jump far, their jump distances decreases quickly with added payload mass
In this project we propose a design that stores energy by accelerating a flywheel and converting its rotational energy into linear energy through a string system. Our proposed string system concept is similar to the string systems found in twisted string actuators. The strings slow the flywheel down while accelerating it upwards providing the energy for the jump. The primary energy storage mechanism of the robot is storing energy in the spinning mass of the flywheel. This means if we add payload mass to the flywheel we increase total energy stored. This allows us to increase payload mass without significantly affecting the total energy density of the robot. This would enable robots with heavy payloads to jump large distances.
We are developing the system through building both a theoretical model as well as physical prototypes. Through analysis of the system we have determined an optimal rate of transmission as well as an optimal geometry for peak transmission. The models relate the geometry of the string system to the rate of transmission from angular to linear speed. We have created and tested prototypes as proof of concept on a small scale. Prototypes have been created using 3D printing and rapid manufacturing techniques. These have allowed us to explore the effects of different parameters.
Jumping robots could traverse complex terrain and help explore rugged environments. The flywheel string system could allow the robot to effectively carry large payloads while maintaining large jump heights. The proposed jumping robot design could lead to important innovations in the fields of robotics and dynamics.