International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 11 Issue: 10 | Oct 2024
p-ISSN: 2395-0072
www.irjet.net
Engineering Quadruped Locomotion: Actuation Systems, Kinematics, and Efficiency Chirag Nere1, Dr. Vaijanti Despande2, Prof. Jahida Subhedar3 1Department of Mechatronics, Symbiosis Skills and Professional University Pune, India 2Professor, Dept. of Mechatronics Engineering, Symbiosis Skills and professional University , Maharashtra, India 3 Professor, Dept. of Mechatronics Engineering, Symbiosis Skills and professional University , Maharashtra, India
---------------------------------------------------------------------***--------------------------------------------------------------------systems, opening up novel avenues for exploration. Abstract - The paper explores the intricate relationship
Leveraging their mechanical softness, manifested through back-drivability and low system inertia, these platforms seamlessly engage with their surroundings. They adeptly handle collisions during ground contact, and their inherent safety facilitates harmonious human-robot cooperation. Drawing inspiration from nature's efficient muscle and tendon compliance, springs in robotics emulate non-linear oscillations, mirroring biological energy-efficient mechanisms.
between actuation systems, kinematics, and efficiency in quadrupedal locomotion. By analyzing the complex interplay of these factors, the research contributes to the advancement of quadruped robotics, enhancing their mobility and overall performance. The study delves into novel actuation approaches, considering both mechanical design and control strategies. Additionally, it investigates the impact of kinematic configurations on locomotion patterns, and terrain adaptation. The paper emphasizes the pivotal role of efficiency in ensuring sustainable and effective quadrupedal movement. Ultimately, this research serves as a comprehensive guide for designing, engineering, and optimizing quadrupedal actuation systems, paving the way for improved robotic mobility across various applications.
1.1 Literature Review StarlETH is based on four identical legs that are arranged in an X configuration. With linear dimensions of about 0.6 m and a total weight of 23 kg, it has the size of a mediumsized dog. Every leg has a total of 3 degrees of freedom, one each for hip abduction/adduction, hip flexion/extension, as well as knee flexion/extension. The robot’s design is based on earlier studies that we conducted to optimize a planar running leg. We put emphasis on keeping the inertia of the moving segments minimal by concentrating all actuators at the main body through the use of chain and cable pulley systems. This is beneficial to ensure fast swing leg motion and to reduce impact losses at the intermittent ground contact.[3] The lightweight main body is fabricated as a carbon fiber sandwich monocoque with aluminum front and back connectors. It contains well protected all electronic parts that are cooled through active air circulation.
The quadruped research consists of a motor drive used which is an Odrive setup connected with a 900KV BLDC motor in combination of AS5600 magnetic encoder and which is controlled by a microcontroller Arduino DUE. This testing rig is a more simplified version of quadruped and its actuation system, the sensor and BLDC motors are held by a 3D printed setup. A precise control is possible for a quadruped robot on difficult terrains giving each leg of a quadruped robot property of shock absorber. The robot is more energy efficient as we are using harmonic gear boxes and there are less losses. Durability and reliability combination of harmonic and series elastic drive reduced the stress on the system. As the harmonic gearbox has zero backlash the durability of the robot increases. One of the main reasons for SED is Adaptability of a quadruped robot on various terrains and dynamic environment enhancing more stability in a quadruped robot.
The key elements of StarlETH are the high compliant series elastic actuators that are implemented in all joints using linear compression springs in a pre-compressed setup (antagonistically at the hip joints). Springs decouple the motor (Maxon EC-4pole 200W) and gearbox (Harmonic Drive CSG-14, 1:100 reduction) from the joint. [3]This setup ensures robustness against impacts, allows for energy storage to improve the efficiency, and provides full torque controllability. All joint angles, motor angles, and spring deflections are precisely measured in every joint. The lightweight ball feet are based on air filled racquet balls that provide amble cushioning with minimal weight while having a high contact friction coefficient. To detect changes in the contact force, we tightly integrated force sensing resistors (FSR). The proprioceptive sensor
Key Words: Quadruped robot, Actuation system, series elastic drive, Harmonic Gear box.
1.INTRODUCTION Driven by nature's locomotion principles, legged robotics research is experiencing a transformative phase. Contrasting early rigid, kinematically-controlled walking machines, the field is embracing increasingly compliant
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