2024-03-28T20:36:40Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/303102019-06-10T14:44:59Zcom_10261_106com_10261_4col_10261_485
Comparison of reversible and irreversible actuators for statically stable walking robots from the point of view of the energy consumption
Roca, Joan
Bobi Juvillar, Manuel Pedro
Celaya, Enric
Cardona Foix, Salvador
Walking robot
Actuator
Energy consumption
Automation: Robots: Mobile robots
Mobile robots
International Conference on Climbing and Walking Robots (CLAWAR), 2006, Bruselas (Bélgica)
This paper presents the energetic analysis corresponding to different designs of driving system for joint actuation in a statically stable hexapod robot. Inertia of rotating parts in the actuator, and the friction between moving parts have an important influence on the power consumption. Special attention is made to the influence of the reversibility or irreversibility of the transmission on the global energy balance. Leg mechanisms simulation has been carried out using a commercial CAD-CAE software in order to obtain joint actuator requirements during operation. Two cases are studied: walking on a horizontal ground and standing still. Friction and rotational inertia models are defined for every actuator component. Finally, actuators models are used to simulate their operation in order to estimate the transmitted power between actuator components. The main result is the estimated electrical energy consumption per cycle of each actuator altermative.
This work was supported by the project 'Sistema reconfigurable para la navegación basada en visión de robots caminantes y rodantes en entornos naturales.' (00).
Peer Reviewed
2010-12-17T07:13:13Z
2010-12-17T07:13:13Z
2006
comunicación de congreso
http://purl.org/coar/resource_type/c_5794
9th International Conference on Climbing and Walking Robots: pp. 129-136 (2006)
0000143991
http://hdl.handle.net/10261/30310
en
open
Emerald Group Publishing