The Innovative Design and Simulation of Leg Mechanism of Bionic Quadruped Robot on Energy Saving Concept

• Main Authors: Li, Shou-Yu, 李首余
• Other Authors: Cheng, Pi-Ying
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/93807205720249978947

碩士 === 國立交通大學 === 機械工程學系 === 100 === The study focuses on the design of innovative leg mechanism of Quadruped robot for saving more energy. Generally, the proportion of the body weight not including the limbs is more than 50%. The load effect will intensify the tress increasing and energy consuming. The study proposes a new concept of leg mechanism that gravity balance concept and spring resistance releasing methodology are adopted. Standard gait cycle of the bionic quadruped robot can be divided into stance phase and swing phase. In the period of stance phase, most of the torque induced because of the body weight. The gravity balance theory is thus introduced. The spring arrangement and stiffness are detailed studied and calculated. While in the swing phase, the motors or actuators need only drive the leg mechanism swing a step ahead and not to considering the loading of body weight. In this case the former assigned spring force will become a resistance force to increase the motor load. The switcher for releasing the extra spring force is the another study issue and some of the cam-linkage switch device is created and evaluated using ADAMS. The current research results propose a 3.5% energy saving than no-spring case. Furthermore , advanced improvement of weight and inertia decreasing of cam and linkage will be expected to reach a 73% energy saving efficiency.