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Jack the Jumping Robot: Pinion-based springpowered jumping robot
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Den hoppande roboten Jack (Swedish)
Abstract [en]

This bachelor thesis will demonstrate and explain the building of a jumping robot. This work took place during the Spring semester of 2019 and was finished in May. The scope was to build a foot sized robot that can regulate jumping force and angle, while maintaining the ability to land safely and with its right side up. This thesis required that the robot made use of sensors and microcontrollers. The electronics used for this robot was an Arduino UNO, an IMU and several servos. The code behind the jump was based on the switch case statement model.

Jack was built with three subsystems in mind: Energy storage to use for jumping, Decoupling for releasing a variable amount stored energy quickly and Suspension for reducing impact on landing and to prevent tipping.

The work resulted in a robot who could jump 6.5% of its body length, regulate jump power and land on its feet. In conclusion, even though some of the subsystems were successful, our model of an jumping robot is insufficient due to its low jump height.

Abstract [sv]

Detta kandidatexamensarbete redovisar planeringen och byggandet av en robot som kan hoppa. Arbetet varade under vårterminen 2019 och slutfördes i maj. Arbetet krävde att roboten skulle använda sig av sensorer och mikroprocesser. Elektroniken som användes i arbetet var en Arduino UNO, en IMU och ett flertal servo motorer. Koden bakom hoppet baserades på switch case statementmodellen.

Jack är byggd med tre delsystem åtanke: Energilagring för hoppet, Avkoppling för att avlösa en varierande mängd lagrad energi snabbt och Dämpning för att reducera stötar vid landning och för att förhindra att roboten välter.

Arbetet resulterade i en robot som kan hoppa 6.5% av sin längd, regulera hoppkraften och landa utan att välta. Vi kom fram till, även om vissa delsystem var lyckade, att vår modell av en hoppande robot inte är tillräcklig på grund av sin låga hopphöjd.

Place, publisher, year, edition, pages
2019. , p. 44
Series
TRITA-ITM-EX ; 2019:39
Keywords [en]
Mechatronics, Jumping, Robot, Arduino.
Keywords [sv]
Mekatronik, Hopp, Robot, Arduino.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264480OAI: oai:DiVA.org:kth-264480DiVA, id: diva2:1373774
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Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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