Design and characterization of a compliant-joint robotic jumping leg
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2010
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| Online Access: | http://hdl.handle.net/1721.1/60207 |
| _version_ | 1826198099539787776 |
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| author | Wang, Albert Duan |
| author2 | Sangbae Kim. |
| author_facet | Sangbae Kim. Wang, Albert Duan |
| author_sort | Wang, Albert Duan |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010. |
| first_indexed | 2024-09-23T10:58:49Z |
| format | Thesis |
| id | mit-1721.1/60207 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:58:49Z |
| publishDate | 2010 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/602072019-04-12T11:36:40Z Design and characterization of a compliant-joint robotic jumping leg Compliant-joint robotic jumping leg Wang, Albert Duan Sangbae Kim. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010. Cataloged from PDF version of thesis. Biological systems employ compliant joints to allow robust contact with the surroundings and to increase locomotive efficiency. In this experiment, we designed a three-link robotic leg with a compliant calf tendon that was acutated by a DC motor at the hip and measured the effect of compliance on the force profile and energy consumption for a single jump. The lengths of the femur, tibia, and foot were 150 mm, 210 mm, and 60 mm respectively. Overall vertical leg stiffness was varied from 472 N/m to 3980 N/m. Using a 40 degree angle ramp for the motor acutation profile, adding compliance tended to distribute force over time at a smaller magnitude which resulted in longer contact time with the ground. Total impulse was found to vary and peaked at a value of 3.42 Ns for a overall leg stiffness of 1180 N/m. The findings suggest that these systems can be optimized for performance by tuning the stiffness of compliant joints. by Albert Duan Wang. S.B. 2010-12-06T17:38:05Z 2010-12-06T17:38:05Z 2010 2010 Thesis http://hdl.handle.net/1721.1/60207 682160121 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 32 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Wang, Albert Duan Design and characterization of a compliant-joint robotic jumping leg |
| title | Design and characterization of a compliant-joint robotic jumping leg |
| title_full | Design and characterization of a compliant-joint robotic jumping leg |
| title_fullStr | Design and characterization of a compliant-joint robotic jumping leg |
| title_full_unstemmed | Design and characterization of a compliant-joint robotic jumping leg |
| title_short | Design and characterization of a compliant-joint robotic jumping leg |
| title_sort | design and characterization of a compliant joint robotic jumping leg |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/60207 |
| work_keys_str_mv | AT wangalbertduan designandcharacterizationofacompliantjointroboticjumpingleg AT wangalbertduan compliantjointroboticjumpingleg |