지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.6
- 수록면
- 136 - 142 (7page)
이용수
초록· 키워드
오류제보하기
In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, "Resilin’, an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, ‘torque reversal mechanism’. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea’s muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.
목차
Abstract
1. 서론
2. 개념 설계
3. 제작
4. 결과
5. 결론
6. 추후 연구
References
참고문헌 (5)
참고문헌 신청
1. [학술대회논문] - M. Kovač / 2008 / A miniature 7g jumping robot / in Proc. IEEE International Conference on Robotics and Automation : 373 ~ 378
2. [학술지(정기간행물)] - U. Scarfogliero / 2009 / The use of compliant joints and elastic energy storage in bioinspired legged robots / Mechanism and Machine Theory 44 (3) : 580 ~ 590
3. [학술대회논문] - B. G. A. Lambrecht / 2005 / A small, insect-inspired robot that runs and jumps / in Proc. IEEE International Conference on Robotics and Automation : 1240 ~ 1245
4. [학술대회논문] - J. –S. Koh / 2013 / Flea Inspired Catapult Mechanism with Active Energy Storage and Release for Small Scale Jumping Robot / in Proc. IEEE International Conference on Robotics and Automation
5. [학술지(정기간행물)] - M. –K. Noh / 2012 / Flea-Inspired Catapult Mechanism for Miniature Jumping Robots / Robotics, IEEE Transactions on (TRO) 28 (5) : 1007 ~ 1018
2. [학술지(정기간행물)] - U. Scarfogliero / 2009 / The use of compliant joints and elastic energy storage in bioinspired legged robots / Mechanism and Machine Theory 44 (3) : 580 ~ 590
3. [학술대회논문] - B. G. A. Lambrecht / 2005 / A small, insect-inspired robot that runs and jumps / in Proc. IEEE International Conference on Robotics and Automation : 1240 ~ 1245
4. [학술대회논문] - J. –S. Koh / 2013 / Flea Inspired Catapult Mechanism with Active Energy Storage and Release for Small Scale Jumping Robot / in Proc. IEEE International Conference on Robotics and Automation
5. [학술지(정기간행물)] - M. –K. Noh / 2012 / Flea-Inspired Catapult Mechanism for Miniature Jumping Robots / Robotics, IEEE Transactions on (TRO) 28 (5) : 1007 ~ 1018
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UCI(KEPA) : I410-ECN-0101-2020-559-001258668