Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

摘要

The articulated torque is an important base for developing heavy-duty multi-legged robots. To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditions of support phase are analyzed. The static articulated torques are solved though Matrix Laboratory (MATLAB) software. The variable tendency charts of torques are acquired with the changes in the joint angles. The static simulation of robot is carried out by Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are smaller than the static simulation values. The maximum error value is about 5%. Finally, a prototype of the electrically driven heavy-duty six-legged robot is developed. Its climbing experiments prove that the proposed method can be applied to quickly determine accurate articulated torques.