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2022 | OriginalPaper | Buchkapitel

Leg Mechanism Design of a Jumping Robot with Variable Reduction Ratio Joint

verfasst von : Yicheng Weng, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, Xiaoshuai Ma, Min Zhu, Qiang Huang

Erschienen in: Intelligent Robotics and Applications

Verlag: Springer International Publishing

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Abstract

In order to improve the dynamic motion ability of the biped robot, a joint with high torque output and high backdrivability is required. In this paper, a new leg mechanism using a joint with continuously variable reduction ratio inspired by human joint structure is proposed. This mechanism possesses high actuation capability and high impact resistance ability. Based on the characteristics of jumping motion, the parameters of the joint are optimized to increase the jumping height of the robot. A contrast simulation was implemented on a one-legged model to show the advantages of the variable reduction ratio joint over fixed reduction ratio joint. The newly designed joint can increase the jumping height of the robot by 21% comparing with a model without the mechanism. A prototype of one-legged robot using the designed joint with continuously variable reduction ratio has been developed. Vertical jump experiment on the prototype is realized with a height of 42 cm.

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Vorheriges Kapitel Limited Time Fault Tolerant Control for Attitude Stabilization of Quadrotor UAV

Nächstes Kapitel Adaptive Method of Position-Pose for the Robot to Locate the End face’s Hole of the Blade

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Titel: Leg Mechanism Design of a Jumping Robot with Variable Reduction Ratio Joint
verfasst von: Yicheng Weng
Xuechao Chen
Zhangguo Yu
Haoxiang Qi
Xiaoshuai Ma
Min Zhu
Qiang Huang
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-031-13843-0

Electronic ISBN: 978-3-031-13844-7

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-3-031-13844-7_25

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