Development of Jumping Mechanism for Small Reconnaissance Robot

Tae, Won-Seok; Kim, Soo-Hyun; Kwak, Yoon-Keun

Journal of the Korea Institute of Military Science and Technology 2009;12(5):563-570.

Won-Seok Tae, Soo-Hyun Kim, Yoon-Keun Kwak

¹
²KAIST

소형 정찰 로봇의 도약 메커니즘 개발

태원석, 김수현, 곽윤근

¹육군사관학교
²한국과학기술원

Abstract

In the future, most military activities will be replaced by robots. Because of many dangerous factors in battlefield, reconnaissance should be performed by robot. Reconnaissance robot should be small for not being detected, be light and simple structure for personal portability and overcome unexpected rough terrain for mission completion. In case of small and light robot, it can't get enough friction force for movement. Therefore small reconnaissance robot need jumping function for movement. In this paper we proposed a biologically inspired jumping mechanism. And we adjusted moment and jumping angle by using four bar linkage, especially varying coupler length.

Key Words: Biologically Inspiration, Biomimetics, Jumping Mechanism, Take-off Angle Adjustment