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This project is my Master's thesis, which was aimed at building a VSA (Variable Stiffness Actuator) with Variable Damping to exploit its energy harvesting capabilities during vertical jumping

License: BSD 3-Clause Clear License

MATLAB 0.12% Makefile 0.05% C 94.34% C++ 0.37% Assembly 3.37% HTML 1.36% Rich Text Format 0.40%

jumpingenergyharvester's Introduction

Jumping Energy Harvester

Using the variable damping on a VSA (Variable Stiffness Actuator) can improve the energy efficiency, especially on a highly dynamic robots. This project aims to exploit that effect on a vertical jumping robot based on the MACCEPA-VD (The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator with Variable Damping)

How to run

The simulation files are written in MATLAB. To run the simulation execute the following file:

  • ./Simulations/maccepaHopperSimulation

3D Model

The 3D CAD files with .step extension are provided in:

  • /hardware/Model/STEPFiles

The assembled model with and without the vertical stand are given in:

  • /hardware/Model/Assembled

jumpingenergyharvester's People

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