TCS Jumper: A Bio-Inspired Jumping Robot Featuring High Energy Density via Synergistic Deformation

Abstract

Maximizing the energy density of springs is a key consideration in designing spring-driven jumping robots. Inspired by the synergistic deformation mechanism of springtails, which involves the coupled action of rotational and bending deformations in their furcula, we created the TCS Jumper (Torsion springs and Carbon-fiber Strips actuated jumping robot) prototype, combining double-torsion springs (linear elastic elements) and carbon-fiber strips (nonlinear elastic elements) in series. A unified nonlinear axial force model was established by coupling Timoshenko's large deformation theory with linear torsion spring mechanics, revealing dynamic strain coordination that enables mechanical compatibility between elastic elements with distinct elastic deformation characteristics. This model achieved <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$&lt; $</tex-math></inline-formula>4.4% force deviation across torsion angles from 0 to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">${\pi }/{2}$</tex-math></inline-formula> rad, demonstrating quasi-static elastic deformation control. Experimental validation showed the novel SEA stores 28J energy (140J/kg density) and enables the 345g TCS Jumper to achieve 3.5m vertical jump height with 52.4J/kg system energy density and 65.4% gravitational potential energy conversion efficiency. This study presents a framework for designing high-performance, spring-driven robots with heterogeneous elastic systems.