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Dynamic Motion-Based Optimization of Support and Transmission Mechanisms for Legged Robots
Kun Zhang1, Zhaoyang Cai1, Lei Zhang1
1School of Intelligent Science and Technology, Beijing University of Civil Engineering and Architecture, Beijing 102616, China.
Biomimetics (Basel, Switzerland)
|March 26, 2025
Summary
This study optimizes legged robot leg mechanisms for better dynamic performance. The novel approach enhances support and transmission systems, significantly reducing motor torque and speed requirements for improved efficiency.
Area of Science:
- Robotics
- Mechanical Engineering
- Biomechanics
Background:
- Dynamic performance is crucial for legged robot functionality.
- Existing leg mechanism designs often face limitations in efficiency and power requirements.
- Optimization of kinematic and dynamic parameters is essential for advanced robotic locomotion.
Purpose of the Study:
- To propose a novel method for optimizing legged robot leg mechanism parameters based on dynamic motion.
- To enhance the dynamic performance of legged robots through targeted mechanism design.
- To reduce the energy demands on leg joint motors.
Main Methods:
- Introduced a mechanism analysis index based on robot motion energy to evaluate dynamic performance.
- Optimized support mechanism parameters (range of motion, structure thickness, U-flange position) under stiffness constraints.
- Optimized transmission mechanism parameters (linkage length, knee joint angle) for variable transmission ratio.
Main Results:
- The proposed method successfully determined optimal mechanism parameters for dynamic performance.
- Peak torque requirement for the knee joint motor was reduced by 18.5%.
- Peak speed requirement for the knee joint motor was reduced by 24.8%.
Conclusions:
- The developed optimization method effectively improves the dynamic performance of legged robots.
- Optimizing both support and transmission mechanisms leads to significant reductions in motor power demands.
- This approach provides a quantitative framework for designing energy-efficient legged robot leg mechanisms.
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