TCS Jumper: A Bio-Inspired Jumping Robot Featuring High Energy Density Via Synergistic Deformation
and ZhengGuo Su
AI summary
Problem
Traditional spring-driven jumping robots suffer from low energy density and inefficient energy conversion due to single-element designs, while existing hybrid models lack analytical frameworks to predict nonlinear mechanical coupling.
Approach
A bio-inspired series elastic actuator combines linear double-torsion springs with nonlinear carbon-fiber strips in series, unified by a large-deformation axial force model to ensure mechanical compatibility and synergistic energy storage.
Key results
- Unified axial force model achieves <4.4% force deviation across operational angles
- Series elastic actuator stores 28 J of energy at 140 J/kg density
- Prototype achieves 3.5 m vertical jump height with 65.4% gravitational potential energy conversion efficiency
- Validated mechanical compatibility between heterogeneous linear and nonlinear elastic elements
Why it matters
Provides a generalized design framework for high-performance spring-driven robots, advancing capabilities for terrain exploration and disaster rescue applications.
Abstract
Maximizing the energy density of springs is a key consideration in designing spring-driven jumping robots. Inspired by the synergistic deformation mechanism of springtails, which involves the coupled action of rotational and bending deformations in their furcula, we created the TCS Jumper (Torsion springs and Carbon-fiber Strips actuated jumping robot) prototype, combining double-torsion springs (linear elastic elements) and carbon-fiber strips (nonlinear elastic elements) in series. A unified nonlinear axial force model was established by coupling Timoshenko’s large deformation theory with linear torsion spring mechanics, revealing dynamic strain coordination that enables mechanical compati- bility between elastic elements with distinct elastic deformation characteristics. This model achieved <4.4% force deviation across torsion angles from 0 to π/2 rad, demonstrating quasi-static elastic deformation control. Experimental validation showed the novel SEA stores 28J energy (140J/kg density) and enables the 345g TCS Jumper to achieve 3.5m vertical jump height with 52.4J/kg system energy density and 65.4% gravitational potential energy conver- sion efficiency. This study presents a framework for designing high-performance, spring-driven robots with heterogeneous elastic systems.