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학술대회자료
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대한기계학회 대한기계학회 춘추학술대회 대한기계학회 2009년도 추계학술대회 강연 및 논문 초록집
발행연도
2009.11
수록면
1,057 - 1,060 (4page)

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Among various locomotion gaits on ground employed by biological creatures, jumping may be the fastest and most energy efficient travel method. Jumping creatures can overcome obstacles easily, and hence they are able to move on many types of terrains. Jumping locomotion is characterized by the extremely large and short duration force that actuates jumping. Control work for jumping is therefore much more difficult than conventional ones. Artificial musculoskeletal systems which mimic biological ones are often employed in developing jumping robots, and muscle-like pneumatic actuators are used in most cases. The use of pneumatic actuators, however, makes robots become heavy and large machines because of the complexity of pneumatic systems and the supply source. SMA (shape memory alloy) wire is considered as a good substitute for small jumping robots due to several reasons. First, SMA has a length change up to 5 percent of its length with a high blocking force while the mass is almost zero. Second, SMA is a linear actuator and the behavior is quite similar to muscle systems. This paper presents the design and simulation of a jumping mechanism actuated by SMA wire. Several types of jumping leg mechanism are considered and the simulation results are compared.

목차

Abstract
1. Introduction
2. The Jumping leg
3. Simulation
4. Conclusion and future work
Acknowledgement
Reference

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UCI(KEPA) : I410-ECN-0101-2009-550-019125384