An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.
In this paper, a new multimodal energy harvesting device consisting of two transduction mechanisms and having unique properties at various operating modes is presented. The hybrid system includes electromagnetic and piezoelectric energy harvesting technologies, and uses linear motion and impact forces from human motion for energy harvesting. The device is based on an unbalanced electromagnetic rotor made of three beams of piezoelectric material that have magnets attached to the ends. The device is to be worn on the legs or arms of a person. Linear motion, from the arms or legs swinging, causes the rotor to spin and the magnets to pass over the coils. Impact forces, from stepping, induce stress on the piezoelectrics which generates voltage across the electrode. The results of several numerical simulations are presented. For the piezoelectric beams, numerical simulations were done to find the deflection, stress, optimum operating frequency, and mode shapes taking into account environmental conditions. For the electromagnetic generation, numerical simulations were done to find the optimal load resistance and power generation for several different orientations. Other design related issues will also be investigated to fully realize the device in real world applications.
In this study, experimental characterizations of a new hybrid energy harvesting device consisting of piezoelectric and electromagnetic transducers are presented. The generator, to be worn on the legs or arms of a person, harnesses linear motion and impact forces from human motion to generate electrical energy. The device consists of an unbalanced rotor made of three piezoelectric beams which have permanent magnets attached to the ends. Impact forces cause the beams to vibrate, generating a voltage across their electrodes and linear motion causes the rotor to spin. As the rotor spins, the magnets pass over ten electromagnetic coils mounted to the base, inducing a current through the wire. Several design related issues were investigated experimentally in order to optimize the hybrid device for maximum power generation. Further experiments were conducted on the system to characterize the energy harvesting capabilities of the device, all of which are presented in this study.
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