Chinese Journal of Mechanical Engineering >

2023 , Vol. 36 >Issue 1: 26 - 26

DOI: https://doi.org/10.1186/s10033-023-00848-y

2023-02-25

Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

  • Hongchao Zhuang ,
  • Ning Wang ,
  • Haibo Gao ,
  • Zongquan Deng
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  • 1. School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China;
    2. School of Information Technology Engineering, Tianjin University of Technology and Education, Tianjin 300222, China;
    3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Received date: 2021-07-21

  Revised date: 2023-01-05

  Online published: 2023-12-20

Supported by

Supported by National Natural Science Foundation of China (Grant No. 51505335), Industry University Cooperation Collaborative Education Project of the Department of Higher Education of the Ministry of Education of China (Grant No. 202102517001), and Doctor Startup Projects of TUTE of China (Grant No. KYQD 1806)

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Abstract

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, the effective utilization rate of energy is not high, which has become an important obstacle to its practical application. To research the power consumption characteristics of robot mobile system is beneficial to speed up it toward practicability. Based on the configuration and walking modes of robot, the mathematical model of the power consumption of mobile system is set up. In view of the tripod gait is often selected for the six-legged robots, the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot's statically indeterminate problem and constructing the equal force distribution. Then, the power consumption of robot mobile system is solved under different working conditions. The variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint, body height, and span. The articulated rotational zones and the ranges of body height and span are determined under the lowest power consumption. According to the walking experiments of prototype, the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio, body height, and span. Then, the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile system. The proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

Key words： Electrically driven; Large-load-ratio six-legged robot; Power consumption; Mobile system

Cite this article

Hongchao Zhuang , Ning Wang , Haibo Gao , Zongquan Deng . Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot[J]. Chinese Journal of Mechanical Engineering, 2023 , 36(1) : 26 -26 . DOI: 10.1186/s10033-023-00848-y

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