Publication

Comparison of reversible and irreversible actuators for statically stable walking robots from the point of view of the energy consumption

Conference Article

Conference

International Conference on Climbing and Walking Robots (CLAWAR)

Edition

9th

Pages

129-136

Doc link

http://www.bsmee.be/events/clawar2006/digestbook_Clawar2006.pdf

File

Download the digital copy of the doc pdf document

Abstract

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.

Categories

mobile robots.

Author keywords

walking robot, actuator, energy consumption

Scientific reference

J. Roca, M.P. Bobi, E. Celaya and S. Cardona. Comparison of reversible and irreversible actuators for statically stable walking robots from the point of view of the energy consumption, 9th International Conference on Climbing and Walking Robots, 2006, Brussel·les, Bèlgica, pp. 129-136, Emerald.