Jack the Jumping Robot : Pinion-based springpowered jumping robot

Sammanfattning: This bachelor thesis will demonstrate and explain the building of a jumping robot. This work took place during the Spring semester of 2019 and was finished in May. The scope was to build a foot sized robot that can regulate jumping force and angle, while maintaining the ability to land safely and with its right side up. This thesis required that the robot made use of sensors and microcontrollers. The electronics used for this robot was an Arduino UNO, an IMU and several servos. The code behind the jump was based on the switch case statement model. Jack was built with three subsystems in mind: Energy storage to use for jumping, Decoupling for releasing a variable amount stored energy quickly and Suspension for reducing impact on landing and to prevent tipping. The work resulted in a robot who could jump 6.5% of its body length, regulate jump power and land on its feet. In conclusion, even though some of the subsystems were successful, our model of an jumping robot is insufficient due to its low jump height.