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Release System
The robot is designed to jump upon the release
of two springs initially compressed using a motor.
The overall structure can be split in two parts:
a foot, which supports the overall weight and is
the base for the two springs, and the upper body,
which houses the motor, battery control systems,
quick release mechanism and attachment for
the other end of the springs. To compress the
springs, the motor drives a spool that winds a
cable connected to the foot, which brings the upper body down. Torsional springs seemed most
efficient as they can be pre-loaded in order to increase energy storage and therefore the jumping
distance. A kill switch mechanism involving two
wires in contact that are pushed open when the
robot reaches its fully compressed state was first
considered to stop the motor. We later decided it
was more efficient to link the motor to the remote
control.
In order to fully utilize the energy from the compressed springs, they need to be released as
quickly as possible. The use of a spool make
this operation difficult, as the motor and gearbox
create enough resistance for the cable to unwind
even when stopped. Therefore the quick release
mechanism has to disengage the spool from the
gearbox system. In order to minimise the amount
of control systems, and hence the weight of the
robot, we settled for a clutch mechanism. The
clutch is connected to the spool along the shaft.
Upon activation, a trigger mechanism disengages
the clutch, which allows the spool to break free
from any resistance, thus releasing the force exerted by the thread on the springs. The trigger
is activated by electromagnetic actuation: the
magnet on the trigger is placed in front of an EM
coil, that produces a repelling force when current
flows through it, resulting in the displacement of
the trigger.
0.6
y distance (m)
0.5
0.4
0.3
Electronics
0.2
0.1
0.2
0.4
0.6
0.8
the foot in order to maximise friction. Two supporting stainless steel rods were added on either
side of the robot to guide the jump and provide
structural integrity. The thread used to connect
the foot to the spool was made out of an aramids
material.
Test Rig
Second Prototype
First Prototype
fore impossible, the thread was released by burning it. As an alternative, the robot in Figure 6
(b) was built. It used the release of a bent carbon rod via remote controlled flaps. The motor
was not powerful enough to compress the carbon
rod, and despite the great performances (1.5 meter jumps on average), it could not be presented.
Testing
Table 1 provides a summary of the performance
of the robot on testing day. it is to be noted that
none of our two models complied with the rules
due to the aforementioned technical problems.
Figure 5: CAD rendering of the second prototype
(SolidWorks)
Parameter
Jump
Size
Merit Function
Third Prototype
Torsional springs were replaced by compression
springs placed around the supporting rods, as
they are easier to compress. Housing was also
redesigned to allow for better assembly. It was
found that the thread we were using had a tendency to sliver, it was changed for a cotton thread
that was able to withstand the loading without
any problems. Motor and gearbox performances
were extremely satisfactory, and the robot was
successfully able to compress itself. However,
the quick release mechanism activation using linear servo did not function. Manual actuation of
the robot allowed the robot to jump forty centimetres.
Value Unit
35
70
0.5
mm
mm
NA
References
[1] Kovac, M. (2015). AE3-418 L3 Introduction Lecture. Department of Aeronautics at Imperial College London.