Journal
MICROMACHINES
Volume 13, Issue 9, Pages -Publisher
MDPI
DOI: 10.3390/mi13091404
Keywords
hexapod robot; six-link mechanism; high dynamic capability
Categories
Funding
- Natural Science Foundation of Top Talent of SZTU [20211061010012]
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This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. The unique six-link leg mechanism can achieve a large output motion using a small drive motion, improving the robot's dynamic motion capability.
An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots' dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1 degrees, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).
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