Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod
Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod
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DOI：
10.1115/1.4035117
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发表时间：
2017-02-01
影响因子：
2.6
通讯作者：
Fearing, Ronald S.
中科院分区：
文献类型：
--
作者：
Plecnik, Mark M.;Haldane, Duncan W.;Fearing, Ronald S.
新型跳跃机器人Salto的腿机构被设计成在腿与地面相互作用的次200 ms时间跨度期间实现多种功能，包括最小化脉冲载荷、平衡角动量和操纵机器人的串联弹性致动器的功率输出。这一切都是被动地完成了一个单一的自由度的联系，有一个耦合，不直观的设计，这是综合使用本文所述的技术。通过使用可变的机械效益来调节串联弹性致动器中的能量存储和释放，通过该机构传递的功率增加到超过马达的极限。这种功率调制行为可以实现高幅度、高频率跳变。我们的目标是实现所有所需的行为与连杆组成的旋转关节，简化机器人的硬件，但需要一个复杂的设计过程，因为没有预先存在的解决方案。综合过程有两个阶段：（1）设计探索，以初步编译联动候选人，和（2）运动学调整，以纳入功率调制特性，并确保脉冲限制，旋转自由跳跃运动。最终的设计是一个八杆机构，其行程大于机器人总高度的一半，产生的模拟最大跳跃力比其电机极限大3.6倍。一个0.27米高的原型显示出最小的俯仰旋转在米高的测试跳跃。
The leg mechanism of the novel jumping robot, Salto, is designed to achieve multiple functions during the sub-200 ms time span that the leg interacts with the ground, including minimizing impulse loading, balancing angular momentum, and manipulating power output of the robot's series-elastic actuator. This is all accomplished passively with a single degree-of-freedom linkage that has a coupled, unintuitive design which was synthesized using the technique described in this paper. Power delivered through the mechanism is increased beyond the motor's limit by using variable mechanical advantage to modulate energy storage and release in a series-elastic actuator. This power modulating behavior may enable high amplitude, high frequency jumps. We aim to achieve all required behaviors with a linkage composed only of revolute joints, simplifying the robot's hardware but necessitating a complex design procedure since there are no pre-existing solutions. The synthesis procedure has two phases: (1) design exploration to initially compile linkage candidates, and (2) kinematic tuning to incorporate power modulating characteristics and ensure an impulse-limited, rotation-free jump motion. The final design is an eight-bar linkage with a stroke greater than half the robot's total height that produces a simulated maximum jump power 3.6 times greater than its motor's limit. A 0.27m tall prototype is shown to exhibit minimal pitch rotations during meter high test jumps.