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2023 | OriginalPaper | Buchkapitel

Development of a Database to Simulate and Adapt Compliant Mechanisms to a Given Characteristic for Improving Energy Efficiency of a Walking Robot

verfasst von : Marten Zirkel, Yinnan Luo, Ulrich J. Römer, Alexander Fidlin, Lena Zentner

Erschienen in: Microactuators, Microsensors and Micromechanisms

Verlag: Springer International Publishing

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Abstract

Compliant mechanisms with variable geometric parameters are investigated for the application in a bipedal robot to improve its walking efficiency. These mechanisms have nonlinear torque-angle characteristics and act like torsion springs to change the systems free oscillation frequency. High energy efficiency is achieved if the free oscillation frequency matches the step frequency, meaning the that the robot walks in resonance. For this purpose, the desired characteristic of the optimized elastic coupling is identified via optimization. Then, a database is developed, which consists of boundary conditions and beam elements. In this paper, there are three boundary conditions and three beam elements for demonstration purpose. To simulate a large number of compliant mechanisms with different characteristics, two boundary conditions and a beam element can be combined. The boundary conditions serve as bearing types to connect the beam element to the thighs of a robot. The large deformation behavior is assumed to be simulated by the Euler-Bernoulli beam theory, which is validated by FEM models. Thus, the desired characteristic from the proceeding optimization process is realized by a specific compliant mechanism.

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Titel: Development of a Database to Simulate and Adapt Compliant Mechanisms to a Given Characteristic for Improving Energy Efficiency of a Walking Robot
verfasst von: Marten Zirkel
Yinnan Luo
Ulrich J. Römer
Alexander Fidlin
Lena Zentner
Verlag: Springer International Publishing
Buch: Microactuators, Microsensors and Micromechanisms
Print ISBN: 978-3-031-20352-7

Electronic ISBN: 978-3-031-20353-4

Copyright-Jahr: 2023
DOI: https://doi.org/10.1007/978-3-031-20353-4_4

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