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

doi:10.3901/JME.2023.01.103

Abstract

Abstract: 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.

Key words: biped robot, legs, actuator, aeries-parallel configuration, moment of inertia

CLC Number:

TG156

SHI Zhaoyao, DING Hongyu, WANG Wenguang, LIU Yizhang, HU Yisen, JU Xiaozhu, ZHANG Pan. Design and Experimental Research on the Novel Leg Configuration of Bipedal Robot[J]. Journal of Mechanical Engineering, 2023, 59(1): 103-112.

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