Abstract
In biomechanics and robotics, the effective mechanical advantage (EMA) is a characteristic quantity representing the relationship between the joint driving force and environmental contact force. EMA and energy consumption are particularly critical for the delivery legged robot because an optimized EMA can reduce the demand for joint actuation forces, thus reduce energy consumption. This paper proposes a leg design approach based on EMA and energy cost optimization for developing a delivery legged robot which optimizes the leg dimensions and hinge point locations. An electrically actuated tri-segmented leg prototype has been developed following the optimal leg structure. The hinge points of each joint are close to the main support line to achieve the effect of dead-lock support. The design load capacity of the leg is 3 tons with a load-to-weight ratio of 15:1. It can realize a swing frequency of 0.65 Hz at a stride length of 0.8 m.
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Acknowledgment
This research was supported by the National Key R&D Program of China under grant numbers 2019YFB1309502.
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Yi, H., Xu, Z., Zhou, L., Luo, X. (2021). Leg Design for Delivery Quadruped Robots Based on EMA and Energy Optimization. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_70
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DOI: https://doi.org/10.1007/978-3-030-89134-3_70
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