Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

摘要

The system mechanical properties play an important role in dynamic quadrupedal robot control reseach. This paper describes a new coupled drive leg for quadrupedal robot. Numerical studies have been done to investigate the mechanical power and energy of the coupled drive leg and direct drive leg in the same control algorithms .When the robot is walking at speed of 0.13m / s, the robot of the coupling legs than the direct drive in the unit time saving energy ratio η = 15. 24%, while at a speed of 0.19m / s, η = 22. 59%.The results show that the coupled leg design has higher efficiency.