Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots
In order to improve the dynamic performance of legged robots, this paper proposes a method for optimizing the parameters of the leg mechanism based on dynamic motion. The proposed method consists of two key parts as follows: support mechanism optimization and transmission mechanism optimization. For...
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| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/3/173 |
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| author | Kun Zhang Zhaoyang Cai Lei Zhang |
| author_facet | Kun Zhang Zhaoyang Cai Lei Zhang |
| author_sort | Kun Zhang |
| collection | DOAJ |
| description | In order to improve the dynamic performance of legged robots, this paper proposes a method for optimizing the parameters of the leg mechanism based on dynamic motion. The proposed method consists of two key parts as follows: support mechanism optimization and transmission mechanism optimization. For the support mechanism, a mechanism analysis index based on robot motion energy is introduced to evaluate the robot dynamic motion performance. Under the structure stiffness constraint, this index can quantitatively analyze the influence of the range of motion and structure mass on the robot motion performance, thereby guiding the design of parameters such as the range of motion, structure thickness, and U-flange position of the mechanism. For the transmission mechanism, this paper optimizes the linkage length and knee joint angle for transmission ratio. Considering the variable transmission ratio and robot motion characteristics, the parameters are optimized to reduce the torque and speed requirements of the leg joint. This method determines the optimal mechanism parameters for dynamic performance based on the specified motion energy requirements, and it also optimizes the linkage length. The results show that the peak torque of the knee joint motor is reduced by 18.5%, and the peak speed is reduced by 24.8%. |
| format | Article |
| id | doaj-art-d0e7bcf2f04344fe8a2957d795c92409 |
| institution | DOAJ |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-d0e7bcf2f04344fe8a2957d795c924092025-08-20T02:42:45ZengMDPI AGBiomimetics2313-76732025-03-0110317310.3390/biomimetics10030173Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged RobotsKun Zhang0Zhaoyang Cai1Lei Zhang2School of Intelligent Science and Technology, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaSchool of Intelligent Science and Technology, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaSchool of Intelligent Science and Technology, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaIn order to improve the dynamic performance of legged robots, this paper proposes a method for optimizing the parameters of the leg mechanism based on dynamic motion. The proposed method consists of two key parts as follows: support mechanism optimization and transmission mechanism optimization. For the support mechanism, a mechanism analysis index based on robot motion energy is introduced to evaluate the robot dynamic motion performance. Under the structure stiffness constraint, this index can quantitatively analyze the influence of the range of motion and structure mass on the robot motion performance, thereby guiding the design of parameters such as the range of motion, structure thickness, and U-flange position of the mechanism. For the transmission mechanism, this paper optimizes the linkage length and knee joint angle for transmission ratio. Considering the variable transmission ratio and robot motion characteristics, the parameters are optimized to reduce the torque and speed requirements of the leg joint. This method determines the optimal mechanism parameters for dynamic performance based on the specified motion energy requirements, and it also optimizes the linkage length. The results show that the peak torque of the knee joint motor is reduced by 18.5%, and the peak speed is reduced by 24.8%.https://www.mdpi.com/2313-7673/10/3/173legged robotmechanism designparameter optimizationdynamic motion |
| spellingShingle | Kun Zhang Zhaoyang Cai Lei Zhang Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots Biomimetics legged robot mechanism design parameter optimization dynamic motion |
| title | Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots |
| title_full | Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots |
| title_fullStr | Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots |
| title_full_unstemmed | Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots |
| title_short | Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots |
| title_sort | dynamic motion based optimization of support and transmission mechanisms for legged robots |
| topic | legged robot mechanism design parameter optimization dynamic motion |
| url | https://www.mdpi.com/2313-7673/10/3/173 |
| work_keys_str_mv | AT kunzhang dynamicmotionbasedoptimizationofsupportandtransmissionmechanismsforleggedrobots AT zhaoyangcai dynamicmotionbasedoptimizationofsupportandtransmissionmechanismsforleggedrobots AT leizhang dynamicmotionbasedoptimizationofsupportandtransmissionmechanismsforleggedrobots |