Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot
In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2020/8894399 |
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| _version_ | 1849409413774835712 |
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| author | Dongliang Chen Jindong Zhang Xutao Weng Yunjian Zhang Zhonghui Shi |
| author_facet | Dongliang Chen Jindong Zhang Xutao Weng Yunjian Zhang Zhonghui Shi |
| author_sort | Dongliang Chen |
| collection | DOAJ |
| description | In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the articulated lever. When the lever is accelerated or decelerated, the elastic unit is introduced. The system can be considered as a special variable-rate elastic system. This paper will study it from theory and simulation experiments. Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established. By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced. The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption. |
| format | Article |
| id | doaj-art-7cc6dab69c814e1eae263c5eba9c07d7 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-7cc6dab69c814e1eae263c5eba9c07d72025-08-20T03:35:29ZengWileyApplied Bionics and Biomechanics1176-23221754-21032020-01-01202010.1155/2020/88943998894399Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged RobotDongliang Chen0Jindong Zhang1Xutao Weng2Yunjian Zhang3Zhonghui Shi4College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaIn order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the articulated lever. When the lever is accelerated or decelerated, the elastic unit is introduced. The system can be considered as a special variable-rate elastic system. This paper will study it from theory and simulation experiments. Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established. By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced. The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption.http://dx.doi.org/10.1155/2020/8894399 |
| spellingShingle | Dongliang Chen Jindong Zhang Xutao Weng Yunjian Zhang Zhonghui Shi Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot Applied Bionics and Biomechanics |
| title | Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot |
| title_full | Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot |
| title_fullStr | Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot |
| title_full_unstemmed | Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot |
| title_short | Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot |
| title_sort | analysis of stiffness and energy consumption of nonlinear elastic joint legged robot |
| url | http://dx.doi.org/10.1155/2020/8894399 |
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