Abstract
In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the articulated lever. When the lever is accelerated or decelerated, the elastic unit is introduced. The system can be considered as a special variable-rate elastic system. This paper will study it from theory and simulation experiments. Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established. By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced. The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption.
Highlights
Compared with the wheeled robot, the foot robot has great advantages in adaptability to the external complex environment and has great research value [1]
This paper focuses on the second joint, that is to say, only the leg joints are subjected to a simulation experiment with nonlinear elastic joints
From equation (20), it can be seen that the energy consumption is related to the integral of the output torque and the angular velocity at this moment, and the output torque and the joint angular velocity are both functions of time
Summary
Compared with the wheeled robot, the foot robot has great advantages in adaptability to the external complex environment and has great research value [1]. Variable can reduce energy consumption and overall impact of the system, which can be approximately considered as a load spring inverted pendulum slip model [7, 8]. Inspired by this idea, this paper introduces the spring design idea to the joint motion of the foot robot for energy conversion. When the joint motor decelerates to the stop and the initial speed is zero to the acceleration, the elastic joint will start to play an obvious role In this way, it can help the joint motor decelerate in the deceleration process and accelerate in the acceleration process, so as to achieve an energy conversion function and reduce energy loss.
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