Analysis and Experiment of Combustion Powered Linear Actuator for Hopping

To accurately control a hopping robot with combustion powered linear actuator (CPLA), factors that influence the hopping-driving performance of CPLA are analyzed. Firstly, dynamic model is set up according to the working process of CPLA, and performance parameters are obtained. Nextly, how the mole ratio of oxidizer (nitrous oxide N₂O) to fuel (propane C₃H₈) and injection pressures of the two gas influence the output performance of CPLA are analyzed by experiments. Results show that the influence do exist, when the mole ratio is 9.91, the hopping height of CPLA reaches a maximum, and a 3.17kg hopping mechanism can hop as high as 3.2m. CPLA energy efficiency is 8.4% and hopping efficiency is 7.01%. The CPLA outputs a high average power, and is of a large power-mass ratio during the driving hopping process.