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CuiD_Thesis_Final_2024.pdf (35.61 MB)

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Performance Improvement of Grasshopper-Inspired Jumping Robot with Angle Adjustment Mechanism

Cui, Junran
http://orcid.org/0009-0007-1437-7086
http://rave.ohiolink.edu/etdc/view?acc_num=case1722362718703385

Abstract Details

2024, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
In the interest of studying how jump performance of miniature robots can be improved by changing the initial posture, a 188g grasshopper-inspired jumping robot is built. A cam-driven angle adjustment mechanism allows the robot to jump up to 14% further than without initial posture control. Further testing of alternative robot configurations also found the distance can improve up to 47% when energy loss due to ground impact is mitigated. Using both theoretical trajectories and experimental results, this work demonstrates that angle adjustment can positively affect performance of jumping robots. The design concepts and mechanism discussed in this work may also serve as a reference to future integration of other robots to provide jumping as an additional locomotion method in order to clear obstacles and difficult terrain more efficiently.
Kathryn Daltorio (Committee Chair)
Majid Rashidi (Committee Member)
Richard Bachmann (Committee Member)
72 p.
Design; Mechanical Engineering; Robotics
Jumping robot; miniature robot; robotics; dynamics; mechanical design

Recommended Citations

Citations

  • Cui, J. (2024). Performance Improvement of Grasshopper-Inspired Jumping Robot with Angle Adjustment Mechanism [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1722362718703385

    APA Style (7th edition)

  • Cui, Junran. Performance Improvement of Grasshopper-Inspired Jumping Robot with Angle Adjustment Mechanism. 2024. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1722362718703385.

    MLA Style (8th edition)

  • Cui, Junran. "Performance Improvement of Grasshopper-Inspired Jumping Robot with Angle Adjustment Mechanism." Master's thesis, Case Western Reserve University, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1722362718703385

    Chicago Manual of Style (17th edition)

case1722362718703385
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© 2024, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.