Parameter study of hopping mechanism for one legged crank-type hopping robot

Hopping is a desirable locomotion for a mobile robot particularly to move in unstructured environment. One of the common mechanisms for realizing the hopping locomotion is by using crank type mechanism. However the behaviour of the crank mechanism in terms of hopping performance is unknown. It is hy...

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Main Author:	Abdul Rahim, Nurul Hafizah
Format:	Thesis
Language:	English English
Published:	2015
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/16819/1/Parameter%20Study%20Of%20Hopping%20Mechanism%20For%20One%20Legged%20Crank-Type%20Hopping%20Robot.pdf http://eprints.utem.edu.my/id/eprint/16819/2/Parameter%20study%20of%20hopping%20mechanism%20for%20one%20legged%20crank-type%20hopping%20robot.pdf
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id	my-utem-ep.16819
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Miskon, Fahmi
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Abdul Rahim, Nurul Hafizah Parameter study of hopping mechanism for one legged crank-type hopping robot
description	Hopping is a desirable locomotion for a mobile robot particularly to move in unstructured environment. One of the common mechanisms for realizing the hopping locomotion is by using crank type mechanism. However the behaviour of the crank mechanism in terms of hopping performance is unknown. It is hypothesized that hopping performance of crank type hopping robot is influenced by three mechanical parameters which are crank length, spring coefficient and mass of robot. Thus the objectives of the research is to model the behaviour of crank type hopping robot particularly in terms of the effects of mechanical parameters (i.e. spring coefficient, mass and crank length) of the hopping robot towards its hopping performance, to design and simulate one legged hopping robot using Matlab software and finally to validate the simulation with experiments. The simulation and experimentation works were done by setting one of the mechanical parameters as constant value while the other two parameters were set as variable parameters. The step was repeated by changing each of the mechanical parameters as a constant while the other two are variables and vice versa. For experimentation purposes, a one legged hopping robot was developed. In the experiment, the hopping height was measured by using a calibrated Infrared Ranging (IR) sensor. The result shows that the equation of behaviour for the crank type hopping robot performance is true for a certain region as long as the upward force (stored energy in spring) can counter the downward force (force from mass).
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Abdul Rahim, Nurul Hafizah
author_facet	Abdul Rahim, Nurul Hafizah
author_sort	Abdul Rahim, Nurul Hafizah
title	Parameter study of hopping mechanism for one legged crank-type hopping robot
title_short	Parameter study of hopping mechanism for one legged crank-type hopping robot
title_full	Parameter study of hopping mechanism for one legged crank-type hopping robot
title_fullStr	Parameter study of hopping mechanism for one legged crank-type hopping robot
title_full_unstemmed	Parameter study of hopping mechanism for one legged crank-type hopping robot
title_sort	parameter study of hopping mechanism for one legged crank-type hopping robot
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty Of Electrical Engineering
publishDate	2015
url	http://eprints.utem.edu.my/id/eprint/16819/1/Parameter%20Study%20Of%20Hopping%20Mechanism%20For%20One%20Legged%20Crank-Type%20Hopping%20Robot.pdf http://eprints.utem.edu.my/id/eprint/16819/2/Parameter%20study%20of%20hopping%20mechanism%20for%20one%20legged%20crank-type%20hopping%20robot.pdf
_version_	1747833896068710400
spelling	my-utem-ep.168192022-06-13T15:21:36Z Parameter study of hopping mechanism for one legged crank-type hopping robot 2015 Abdul Rahim, Nurul Hafizah T Technology (General) TJ Mechanical engineering and machinery Hopping is a desirable locomotion for a mobile robot particularly to move in unstructured environment. One of the common mechanisms for realizing the hopping locomotion is by using crank type mechanism. However the behaviour of the crank mechanism in terms of hopping performance is unknown. It is hypothesized that hopping performance of crank type hopping robot is influenced by three mechanical parameters which are crank length, spring coefficient and mass of robot. Thus the objectives of the research is to model the behaviour of crank type hopping robot particularly in terms of the effects of mechanical parameters (i.e. spring coefficient, mass and crank length) of the hopping robot towards its hopping performance, to design and simulate one legged hopping robot using Matlab software and finally to validate the simulation with experiments. The simulation and experimentation works were done by setting one of the mechanical parameters as constant value while the other two parameters were set as variable parameters. The step was repeated by changing each of the mechanical parameters as a constant while the other two are variables and vice versa. For experimentation purposes, a one legged hopping robot was developed. In the experiment, the hopping height was measured by using a calibrated Infrared Ranging (IR) sensor. The result shows that the equation of behaviour for the crank type hopping robot performance is true for a certain region as long as the upward force (stored energy in spring) can counter the downward force (force from mass). 2015 Thesis http://eprints.utem.edu.my/id/eprint/16819/ http://eprints.utem.edu.my/id/eprint/16819/1/Parameter%20Study%20Of%20Hopping%20Mechanism%20For%20One%20Legged%20Crank-Type%20Hopping%20Robot.pdf text en public http://eprints.utem.edu.my/id/eprint/16819/2/Parameter%20study%20of%20hopping%20mechanism%20for%20one%20legged%20crank-type%20hopping%20robot.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=96170 mphil masters Universiti Teknikal Malaysia Melaka Faculty Of Electrical Engineering Miskon, Fahmi 1. Apostolopoulos, D. & Wettergreen, D., 2008. Control Strategies for a Multi-Legged Hopping Robot. In International Conference on Intelligent Robots and Systems. Nice, pp. 22-26. 2. 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Jumping Height Control of an Electrically Actuated , One-Legged Hopping Robot : Modelling and Simulation . In Conference on Decision & Control. New Orleans, pp. 1016-1020. 19. Mohamed Kassim, A. & Yasuno, T., 2010. Moving control of quadruped hopping robot using adaptive CPG networks. In 2010 IEEE Conference on Robotics, Automation and Mechatronics. Ieee, pp. 581-588. 20. Nagchaudhuri, A., Ph, D. & Asme, M., 2002. Mechatronic Redesign of Slider crank Mechanism. In International Mechanical Engineering Congress & Exposition. Louisiana, pp. 849-854. 21. Naik, K.G. & Barden, J.M., 2006. Control of A One-legged Hopping Robot Using A Hybrid Neuro-PD Controller. In IEEE Canadian Conference on Electrical and Computer Engineering. Ottawa, pp. 1530-1533. 22. Naik, K.G. & Mehrandezh, Mehran, 2005. Control of a One-legged Hopping Robot using an Inverse Dynamic-based PID Controller. In IEEE Canadian Conference on Electrical and Computer Engineering. Saskatoon, pp. 770-773. 23. 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Parameter study of hopping mechanism for one legged crank-type hopping robot

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