Development of Jumping Mechanism for a Portable Guard Robot

摘要

A guard robot should be small-sized and lightweight tornincrease its portability. In addition, it should be able tornovercome relatively high obstacles to cope with differentrnsituations. A small two-wheeled robot capable of jumpingrncan satisfy these requirements because the jumpingrnrobot can reach a high place more rapidly than otherrnlocomotion methods. This research proposes a smallrnrobot equipped with the jumping mechanism based on arnconical spring. Both the clutch mechanism and conicalrnspring are incorporated into the jumping mechanism. Inrnthe clutch mechanism, the spring can be compressed andrnreleased instantly by a single actuator together with arnplanetary gear train and a one-way clutch. The proposedrnjumping robot can overcome obstacles that are higherrnthan its height. Various tests demonstrate thernperformance of the proposed guard robot.