Abstract
The articulated torque is an important base for developing heavy-duty multi-legged robots. To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditions of support phase are analyzed. The static articulated torques are solved though Matrix Laboratory (MATLAB) software. The variable tendency charts of torques are acquired with the changes in the joint angles. The static simulation of robot is carried out by Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are smaller than the static simulation values. The maximum error value is about 5%. Finally, a prototype of the electrically driven heavy-duty six-legged robot is developed. Its climbing experiments prove that the proposed method can be applied to quickly determine accurate articulated torques.
Highlights
With the development of robotics, many intelligent walking robots are widely applied in the life of human [1], outdoor exploration [2,3], and so on
The analysis method of the articulated torque is presented under the quadrangular gait
Based on the crab-type quadrangular gait, the typical working conditions are analyzed in the support phase
Summary
With the development of robotics, many intelligent walking robots are widely applied in the life of human [1], outdoor exploration [2,3], and so on. The methods mentioned above can effectively obtain the articulated torques of multi-legged robots, they either refer to a large number of calculations, or relate to multiple derivations, or involve complex mathematic expressions, which brings certain difficulties to some researchers. Those methods are limited in the practical development of multi-legged robots. According to their variable tendency charts, the maximum values are obtained.
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