Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

Abstract

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.

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

“…To reduce the impact phenomenon between feet and ground, Lei et al [22] used the combined cycloid function to plan the foot trajectories of a quadruped robot. In aspect of reducing the energy loss of robot system, Zhuang et al [23][24][25][26] developed a single leg with three active degrees of freedom and four passive degrees of freedom for a largeload-ratio six-legged robot. The prototype experiments were used to validate the effectiveness of proposed gait planning and the calculation methods of the articulated torque and rotational speed.…”

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

“…To reduce the impact phenomenon between feet and ground, Lei et al [22] used the combined cycloid function to plan the foot trajectories of a quadruped robot. In aspect of reducing the energy loss of robot system, Zhuang et al [23][24][25][26] developed a single leg with three active degrees of freedom and four passive degrees of freedom for a largeload-ratio six-legged robot. The prototype experiments were used to validate the effectiveness of proposed gait planning and the calculation methods of the articulated torque and rotational speed.…”

Carapace ultrastructure of the spider crabs Schizophrys dahlak (Majidae) and Hyastenus hilgendorfi (Epialtidae) from the Suez Canal, Egypt

“…The functional properties of an organism's parts tend to have evolved optimal structural and material characteristics that provide adaptability and longevity over time (Wang et al, 2015;Zhuang et al, 2016). The hard exoskeletons of decapod crustaceans such as lobsters and crabs can be an adaptation to harsh environments by supporting the body, resisting impacts from external forces, protecting from erosion, predation, and disease, as well as preventing evaporation of water (Wanxi and Hong, 2000;Wang et al, 2018).…”