2A1-E13 火薬の爆発を利用したシリンダ型跳躍ユニット

概要

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This paper proposes a new jumping robot that using chemical energy. Previous jumping robots have difficulties to realize both lightweight and high power at the same time. In regard to this, chemical energy of black powder was adopted. Using explosives allows jumping robots get high energy instantaneously. First, acceleration and velocity characteristics of the cylinder were clarified by experimental cylinder. The approximation of the pressure changing in the cylinder was derived based on the characteristics. Second, expressions of jumping theory were lead and simulated relationship between some parameters and jumping height. The significance of the simulation was shown by the jumping height of 2000mm by the experiment. Finally, four-legged robot dummy with jumping unit that change direction, control of height and isolated ignition were available, is developed. Jumping height of 720mm with cylinder angle of 10 degree was achieved with developed unit.
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