Analysis Method of Combustion-powered Actuators for Hopping Robots
Pages 137 - 142
Abstract
The combustion-powered actuator shows a great performance on driving hopping robots. However, the analysis for driving hopping is limit due to its complex driving process interacting with dynamic and thermodynamic. In order that its analysis method could be obtained, two methods are conducted, and the merits of them are compared. First, the equations of combustion-powered actuators are obtained according to the combustion engine model. Second, the effects of the thermodynamic factors, including combustion duration, combustion quality index and combustion efficiency, are studied. The results show that the distance between the cylinder and piston changes little as these factors changes, when the pressure inside of the chamber is up to the maximum pressure. According to the conclusion, the combustion process during the driving process can be approximately considered as a constant volume combustion. Third, based on the constant volume combustion hypothesis, the pressure is expressed as the function of the stroke and diameter in a closed formation. To verify this hypothesis, the simulations with the two models are conducted, which shows that the results are consistency with each other. According to the constant volume hypothesis, the pressure can be expressed in the closed solution, which is convenient for designing the parameters of the actuator.
References
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Zhao J., Xu J., Gao B., et al (2013). MSU jumper: A single-motor-actuated miniature steerable jumping robot. IEEE Transactions on Robotics., 29(3): 602--614.
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Index Terms
- Analysis Method of Combustion-powered Actuators for Hopping Robots
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Published In
September 2019
803 pages
ISBN:9781450372985
DOI:10.1145/3366194
Copyright © 2019 ACM.
© 2019 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.
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Association for Computing Machinery
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Published: 20 September 2019
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RICAI 2019
RICAI 2019: 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence
September 20 - 22, 2019
Shanghai, China
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RICAI '19 Paper Acceptance Rate 140 of 294 submissions, 48%;
Overall Acceptance Rate 140 of 294 submissions, 48%
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