Design and Experimental Research on the Novel Leg Configuration of Bipedal Robot

被引：1
作者：
Shi Z. [1 ]
Ding H. [1 ,2 ,3 ]
Wang W. [3 ]
Liu Y. [3 ]
Hu Y. [3 ]
Ju X. [3 ]
Zhang P. [1 ]
机构：
[1] Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, Beijing
[2] School of Mechanical and Energy Engineering, Guangdong Ocean University, Yangjiang
[3] Shenzhen Research Institute, UBTECH Robotics, Inc., Shenzhen
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2023年 / 59卷 / 01期
关键词：
actuator; aeries-parallel configuration; biped robot; legs; moment of inertia;
D O I：
10.3901/JME.2023.01.103
中图分类号：
学科分类号：
摘要：
The design requirements for leg design of biped robots with high dynamic performance is investigated, the design criteria, design schemes and implementation of the robot leg are obtained. A novel series-parallel configuration of the robot legs is proposed, the actuator of knee joint moves up to the hip joint, the actuator of ankle joint moves up to the knee joint, the motion of knee joint actuator transmit to the knee through a simplified five-link mechanism, and the motion of ankle joint actuator through parallel four linkage mechanism transmit to the ankles. The kinematics forward and inverse solution of the ankle joint and the entire leg joint are carried out, and a simulation model of the new configuration robot is established. Considering the motion control algorithm, the robot dynamics simulation is completed. The performance of the quasi-direct drive actuator is tested, the experimental verification of the series-parallel configuration of the leg prototype is completed. The robot achieves a walking speed of 0.4 m/s. The results indicate that the proposed new series-parallel configuration of the robot leg has better motion performance than the traditional series configuration one, the performance of the new configuration of the robot is verified n the real machine experiment. The new serial-parallel configuration scheme has broad application prospects in the field of biped robots and other service robots. © 2023 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.
引用
收藏
页码：103 / 112
页数：9
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