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• W2091356137 abstract "Fleas can jump more than 200 times their body length. They do so by employing a unique catapult mechanism: storing a large amount of elastic energy and releasing it quickly by torque reversal triggering. This paper presents a flea-inspired catapult mechanism for miniature jumping robots. A robotic design was created to realize the mechanism for the biological catapult with shape memory alloy (SMA) spring actuators and a smart composite microstructure. SMA spring actuators replace conventional actuators, transmissions, and the elastic element to reduce the size. The body uses a four-bar mechanism that simulates a flea's leg kinematics with reduced degrees of freedom. Dynamic modeling was derived, and theoretical jumping was simulated to optimize the leg design for increased takeoff speed. A robotic prototype was fabricated with 1.1-g weight and 2-cm body size that can jump a distance of up to 30 times its body size." @default.
• W2091356137 created "2016-06-24" @default.
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• W2091356137 date "2012-10-01" @default.
• W2091356137 modified "2023-10-16" @default.
• W2091356137 title "Flea-Inspired Catapult Mechanism for Miniature Jumping Robots" @default.
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• W2091356137 doi "https://doi.org/10.1109/tro.2012.2198510" @default.
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