Identifier

etd-042611-092741

Abstract

The rapid release of energy in mechanisms is often limited by conversion of potential energy to kinetic energy. The use of a flywheel to store energy over time eliminates this constraint. Using this principle, a lightweight and compact energy transmission mechanism has been developed for robotic combat applications. The purpose of the proposed design is to throw an opposing robot ten or more feet into the air. This design incorporates a flywheel, a self-resetting dog clutch with built in shock absorbing rubber for impact mitigation, and an optimized four-bar linkage to deliver the energy. A mathematical model of the dynamic system has been developed to analyze and aid in the design process. Testing of subsystems was performed to validate the design. A final design is proposed with the recommendation that it be built and tested. A validated design is applicable to many real-world problems that require rapid kinetic energy release including reconnaissance robots required to hop high fences.

Publisher

Worcester Polytechnic Institute

Degree Name

ME

Department

Mechanical Engineering

Project Type

Thesis

Date Accepted

2011-04-26

Accessibility

Unrestricted

Subjects

Four Bar Linkage, Clutch, Flywheel, Dynamic Model

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