The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Hopping Robot Using Direct-drive Method and Thermal Modeling to Analyze Motor Limitation

Direct-drive를 활용한 소형 연속 도약 로봇 및 DC모터의 열 모델을 통한 한계 분석

  • Myeongjin Jang (Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Seongyo Yang (Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Gwang-Pil Jung (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
  • Received : 2023.11.01
  • Accepted : 2023.11.15
  • Published : 2024.02.29
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Abstract

A hopping robot can move through a confined environment while overcoming obstacles. To create a small hopping robot, it must be able to generate a large amount of energy and release it at the same time. However, due to the small size of the robot, there is a limit to the size of the actuator that can be used, so it is mainly used to collect energy in an elastic element and release it at once. In this paper, we propose a small hopping robot with a simplified design by removing ancillary parts and enabling continuous hopping using only a small actuator based on a direct-drive method. In addition, repeated actuation over the rated voltage can cause thermal breakdown of the actuator. To check the safety of the actuator at high voltage, we perform modeling to predict the temperature of the actuator and verify the accuracy of the modeling through experiments.

Keywords

Acknowledgement

This work was supported by the Korea Research Institute for Defense Technology Planning and Advancement (KRIT) funded by the Korean Government through the Defense Acquisition Program Administration (DAPA) (Development of a Platform for Small Scale Ground Robot, in 2023) under Grant KRIT-CT-22-006-01

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