Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error

Abstract

High acceleration and extreme load are frequently appeared on high-speed locomotion of legged robot’s legs, imposing a challenging trade-off between weight and torque in leg design. This paper proposes a new design paradigm based on cable-drive and elastic linkage to solve the problem. The details of the design procedure are given, including the construction of the single leg. With the optimum design of the linkage mechanism, a combined index of the workspace and tracking error are used as object function, and taking geometrical design parameters of the linkage as optimization parameters. Based on the target workspace and the spring-loaded inverted pendulum model, the best foot trajectory in obstacle climbing and trotting gait are analyzed and illustrated. This paper built linkage cable-drive spring robot based on the legged module integration. Simulations and experiments indicate that linkage cable-drive spring robot performs stable trotting with control of the spring-loaded inverted pendulum model. Linkage cable-drive spring robot prototype experiments results are provided to verify the validity of the new method.

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

“…1 . s 15 = 0 cθ 25 sθ 25 T is the unit vector along $ 15 , and θ 25 is the angle between y 11 -axis and s 15 .…”

“…Optimal design is an important research direction in parallel mechanism development [15]. Among, the kinematic design mainly involves the determination of optimal geometric parameters [16].…”

Transition mechanism design of a hybrid wheel-track-leg based on foldable rims

“…This involves not only the linkage and coupling between different motions, but also the tolerance and interference between different structures. To make the structure suitable for the intended function, they need to meet the following requirements: (1) in State-C, the track wheels should be fully retracted inside the round rim and should not protrude outside the rim; (2) in state-F, the track wheels are supposed to stretch the caterpillar band to make it completely separated from the rim without contact; (3) in State-C, the transformable rim in folded state should be wrapped in the track ring and cannot be protruded; (4) in both State-C and state-F, as well as the transformation process, each movement cannot interfere with each other.…”

“…These kinds of SAR and EOD missions are usually dangerous and narrow for a person to fulfill. [1][2][3] Using robots to replace human brings many benefits, which can not only reduce injury and death but also save precious time. Working in unconstructed and unpredictable fields, the robots are supposed to have high speed and excellent terrain adaptability.…”

Design of a Cable-Driven Auto-Charging Robot for Electric Vehicles

“…The design [11]- [20], modelling [21]- [23], and control [24]- [28] for CDSM in actual application and basic theory have been studied by some researches. The optimization design work of attachment points and the mechanical structure parameters for various objective functions were shown in [11], [12], [18], [19] and [13], [14], [15], [16], [17], [20], respectively. The general model of CDSM was investigated systematically by [21]- [23].…”