Mechanical Engineering of Leg Joints of Anthropomorphic Robot

Abstract

Abstract. The problem of design engineering of anthropomorphic robot legs is considered. An overview of the existing anthropomorphic robots and an analysis of servomechanisms and bearing parts involved in the assembly of robot legs are presented. We propose an option for constructing the legs of the robot Antares under development. A two-motor layout, used in the knee, ensures higher joint power along with independent interaction with the neighboring upper and lower leg joints when bending. To reduce the electrical load on the main battery of the robot, the upper legs are provided with a mounting pad for additional batteries powering servos. Direct control of the servos is also carried out through the sub-controllers, responsible for all 6 engines installed in the articular joints of the robot legs.

Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

“…Thus, finding specific solutions of the IKP by an analytical method is possible for a RS with number of DoF not exceeding 6. If the system has a greater number of joints (for example the one presented in [8]), using this method leads to the infinite number of solutions, as an attempt is made to solve a system with n (n> 6) unknown variables using only 6 equations. Moreover, since the kinematic equations are nonlinear, to obtain specific solutions, even for 6-joint RS, it is required that its construction meet certain criteria.…”

Justification of the technical requirements of a fully functional modular robot

“…The proposed technological bases for designing modular robots with pairwise coupling mechanisms describe modern hardware and model-algorithmic tools necessary for the development of promising models of modular robots [11,12]. These robots are equipped with systems typical of a fully functional robot, which provides their locomotion, communication, navigation, decentralized power and control [13][14][15][16][17].…”

Analysis of Mechanical Adhesion Climbing Robot Design for Wind Tower Inspection

“…However, a different mechanismdeveloped for inspection of cylindrical structures at London South Bank University consists of three modules joined in a triangular structure in which the robot can climb along the pipe, and the wheels can rotate 90 degrees. This can be done by using spring forces to grip around the tower and be able to climb [8,15].…”