典型文献
Bio-inspired Leg Design for a Heavy-Duty Hexapod Robot
文献摘要：
The leg structure is crucial to the legged robot's motion performance.With the size and load of the legged robot increasing,the difficulty of leg design increases sharply.Inspired by biomechanics,this paper proposes a leg design approach based on effective mechanical advantage(EMA)for developing the heavy-duty legged robot.The bio-inspired design approach can reduce the demand for joint actuation forces during walking by optimizing the ratio relationship between the joint driving force and ground contact force.A dimensionless EMA model of the leg for the heavy-duty legged robot is constructed in this paper.Leg dimensions and hinge point locations are optimized according to the EMA and energy-optimal criterion.Based on the optimal leg structure,an electrically driven tri-segmented leg prototype is developed.The leg's joint hinge points are located near the main support line,and the load-to-weight ratio is 15:1.The leg can realize a swing frequency of 0.63 Hz at the stride length of 0.8 m,and the maximum stride length can reach 1.5 m.
文献关键词：
中图分类号：
作者姓名：
Haoyuan Yi;Zhenyu Xu;Xueting Xin;Liming Zhou;Xin Luo
作者机构：
State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;Research Institute,Inner Mongolia First Machinery Group Co.Ltd,Baotou 014030,China
文献出处：
引用格式：
[1]Haoyuan Yi;Zhenyu Xu;Xueting Xin;Liming Zhou;Xin Luo-.Bio-inspired Leg Design for a Heavy-Duty Hexapod Robot)[J].仿生工程学报（英文版）,2022(04):975-990
A类：
Hexapod
B类：
Bio,inspired,Leg,Design,Heavy,Duty,Robot,structure,crucial,legged,robot,motion,performance,With,size,load,increasing,difficulty,design,increases,sharply,Inspired,by,biomechanics,this,paper,proposes,approach,effective,mechanical,advantage,EMA,developing,heavy,duty,can,reduce,demand,joint,actuation,forces,during,walking,optimizing,ratio,relationship,between,driving,ground,contact,dimensionless,model,constructed,dimensions,hinge,locations,are,optimized,according,energy,optimal,criterion,Based,electrically,driven,segmented,prototype,developed,points,located,near,main,support,line,weight,realize,swing,frequency,stride,length,maximum,reach
AB值：
0.528174
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
