Anthropomorphic walking robot: Design and simulation

IF 1.2 Q3 ENGINEERING, MECHANICAL

FME Transactions Pub Date : 2022-01-01 DOI:10.5937/fme2204724p

M. Polishchuk, M. Tkach, A. Stenin

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Abstract

The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.

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拟人步行机器人:设计与仿真

机器人系统发展的当前阶段的特点是使用拟人机器人设计，其功能尽可能接近人类的能力。这一趋势的原因是，在执行各种技术操作时，需要赋予机器人通用能力。本文提出了一种全新的步行机器人设计，并描述了其功能模型。这种设计允许机器人在一个角坐标系中移动，这是人类的典型特征。创造这种机器人的主要动机是减少行走机构运动链的驱动器数量。本文介绍了数学建模的结果和拟人行走机构的设计建议。文中提出的计算力载荷的工程公式和图表使得创建各种修改的步行机器人成为可能，这些机器人具有适应任意表面拓扑结构的特性，以移动移动机器人。经济效果是通过减少机器人腿部关节的电动机数量来实现的，因此，通过降低步行机器人的总成本。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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