Triple Compliant Limbs with Adaptive Body Structure

Abstract

An innovative approach to 3-legged mobility was developed which enables a variety of novel and useful gaits and mobile manipulation strategies. A variable length cam concept was realized in a prototype version showing how it could be realized with commercially available off the shelf components. The mechanism can be further improved through the use of custom designed components, which would decrease overall system weight and increase performance. Further inertial energy losses can be mitigated by reducing gear and drivetrain weights. A gear testing device was developed which will provide loading data for gears made of various materials under normal and cyclic loads. The results from this test can lead the design of efficient gear trains with minimal moments of inertia.

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Document Details

Document Type
Technical Report
Publication Date
Jun 20, 2012
Accession Number
ADA586735

Entities

People

  • Bill Ross
  • David Rice
  • Gabriel Goldman
  • H. Geyer

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Agreements
  • Cams
  • Control
  • Cyclic Loads
  • Department Of Defense
  • Energy
  • Energy Storage
  • Flight
  • Free Flight
  • Mathematics
  • Moment Of Inertia
  • Simulations
  • Standards
  • Strain Gages
  • Students

Readers

  • Robotics and Automation.
  • Rocket Propulsion.
  • Tribology (the study of the boundary interaction between sliding surfaces, lubrication, wear and friction).