JSR - Self-Balancing Mono-pedal Jumping Robot
JSR is a monopedal robot which utilises a 7 bar linkage system to jump up to 300mm horizontally or vertically, allowing it to navigate rough landscapes.
Initially I started by creating some paper models, and then some more robust models out of laser cut acrylic. This allowed me to get a feel for how the forces in the rotor arm could be turned into a more linear force. After playing around with several different types of linage systems I decided to concentrate my efforts on the 7 bar linkages as they provided a lot of extension for a small rotation.
Development - CAD
Using SolidWorks I started to create 7 bar linkage systems with different orientations and linkage shapes. Once I had settled on the rough layout I quickly realised that the rear arms position drastically effected the amount that the leg assembly could extend by. To optimise this I used SolidWorks to calculate the best position for the fixed pivot to be in.
Once the 2D orientation was optimised I had to make sure all the components could be assembled in a 3D space without interfering with each other, and minimising the length of the pins to ensure the joints wouldn't bend. After this a pin/washer/grommet system was implemented to reduce the amount of friction between all of the surfaces. Nylon washers and grommets were used to interface between the steel pins and the carbon fibre/ aluminium legs.
To ensure that the JSR will stay upright, and to steer it in the desired direction a tail rotor system was created. This took inspiration from helicopter tail rotors, but also has a rotor acting vertically. The vertical rotor alone can control the pitch and the horizontal rotor alone can turn the JSR to face the desired direction. When used together they can control the role of the JSR. These are controlled by a feedback loop taking information from an accelerometer and gyroscope located inside the main body of the JSR.
The final product was rated to IP54, could jump the required 300 mm horizontally and vertically and could be controlled wirelessly up to 700m away.
To read the full report please click the PDF link. For the full SolidWorks files, please use the contact page to request them, and I will send a link.