Leg design for energy management in an electromechanical robot
Leg design for energy management in an electromechanical robot
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机电机器人能量管理的腿部设计
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
D. Koditschek
中科院分区：
文献类型：
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作者：
Gavin D. Kenneally;D. Koditschek
本文探讨了用于动态灵巧腿机器人应用的平行弹簧加载驱动连杆机构的设计。针对脚趾放置在矢状面，该机制适用于两个直接驱动的无刷直流电机的对称五连杆机构安排功率自由的切向运动和兼容的径向运动与运行，跳跃，以及相关的敏捷运动行为。而传统的腿设计通常是考虑电机的大小，运动学和遵守，我们研究他们的联合影响的腿运动周期的三个关键特征：在站姿转换电池能量身体能量;减轻碰撞损失时脚趾触地;和存储和收获之前的身体能量在弹簧站姿。这种分析导致了一种非传统的设计，其“膝”关节骑在“髋”关节之上。实验表明，由此产生的机制可以提供一半以上的动能到身体（或超过两倍的动能，如果使用的全部工作空间），并提供了五倍的能量存储和碰撞效率相对于传统的设计。
This paper examines the design of a parallel spring-loaded actuated linkage intended for dynamically dexterous legged robotics applications. Targeted at toe placement in the sagittal plane, the mechanism applies two direct-drive brushless dc motors to a symmetric five bar linkage arranged to power free tangential motion and compliant radial motion associated with running, leaping, and related agile locomotion behaviors. Whereas traditional leg design typically decouples the consideration of motor sizing, kinematics and compliance, we examine their conjoined influence on three key characteristics of the legged locomotion cycle: transducing battery energy to body energy during stance; mitigating collision losses upon toe touchdown; and storing and harvesting prior body energy in the spring during stance. This analysis leads to an unconventional design whose “knee” joint rides above the “hip” joint. Experiments demonstrate that the resulting mechanism can deliver more than half again as much kinetic energy to the body (or more than double the kinetic energy if the full workspace is used), and offers a five-fold increase in energy storage and collision efficiency relative to the conventional design.