Leg Transmission Mechanism for Enhanced Load-Carrying Capacity: Knee Joint Torque Optimization Design

Quan Huang1; Yixuan Guo2; Haoyun Yan2; Yuquan Leng2; Shoubin Liu1; Chenglong Fu2

10.1109/ICDL55364.2023.10364481

2023-11-11

2023 IEEE International Conference on Development and Learning

978-1-6654-7076-6

2023 IEEE International Conference on Development and Learning (ICDL)

268-273

November 9-11, 2023

Macau, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This study proposes an optimized design for the leg transmission structure of a quadruped robot, aiming to enhance the load-bearing capacity of the knee joint. Firstly, the dynamic simulation of the single leg's load-lifting process in the quadruped robot is conducted, indicating higher torque demands on the knee joint during this process. Therefore, a leg transmission mechanism, combining a ball screw mechanism and a crank-slider mechanism, is designed to effectively amplify the torque of the knee joint motor. Subsequently, a virtual prototype of the quadruped robot, incorporating this design, is constructed using Adams software. The foot trajectory of the robot is pre-planned, and the joint trajectories are obtained through inverse kinematics, using them as the driving functions for the quadruped robot to perform actions such as load lifting, static standing, and diagonal walking gait. Finally, the knee joint torque and corresponding motor driving torque of the quadruped robot's legs are measured and compared. The results demonstrate that the driving torque of the knee joint motor is effectively amplified by the leg transmission mechanism, with the maximum amplification observed during the initial stage of load lifting, reaching a magnification factor of nearly 7.66 times. This verifies the effectiveness of the proposed leg transmission mechanism in enhancing the load-bearing capacity of the knee joint.

Legged locomotion Knee Torque Prototypes Software Mechanical products Trajectory

共同第一 ; 通讯

英语

EI ; CPCI-S

National Natural Science Foundation of China["U1913205","52175272"]

Behavioral Sciences ; Computer Science ; Robotics

Behavioral Sciences ; Computer Science, Artificial Intelligence ; Robotics

WOS:001172928700043

20240415433210

Ball screws ; Bearing capacity ; Bearings (machine parts) ; Intelligent robots ; Joints (anatomy) ; Loads (forces) ; Machine design ; Multipurpose robots ; Torque ; Transmissions

Structural Design:408 ; Biomechanics, Bionics and Biomimetics:461.3 ; Mechanical Design:601 ; Machine Components:601.2 ; Mechanical Transmissions:602.2 ; Robotics:731.5 ; Robot Applications:731.6 ; Control Equipment:732.1 ; Mechanics:931.1 ; Physical Properties of Gases, Liquids and Solids:931.2

人工提交

正式出版

1.School of Mechanical Engineering and Automation, Harbin Institute of Technology
2.e Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China

Quan Huang,Yixuan Guo,Haoyun Yan,et al. Leg Transmission Mechanism for Enhanced Load-Carrying Capacity: Knee Joint Torque Optimization Design[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:268-273.