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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Switchable Parallel Elastic Actuator and its Application to Leg Design for Running Robots
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A Switchable Parallel Elastic Actuator and its Application to Leg Design for Running Robots

机译：可切换并联弹性执行器及其在跑步机器人腿部设计中的应用

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摘要

Motivated by the role of compliant elements in animal motion, springs are introduced in the driving train of legged robots to improve their locomotion performance. This paper presents the working principle, hardware realization, and experimental evaluation of a switchable parallel elastic actuator design actuating the monopedal switchable parallel elastic actuator robot (SPEAR). In the proposed design, a mechanical switch engages the parallel springonlyduring the stance phase, when it is needed to support body weight and promote energy recovery. During flight, the spring is disengaged to allow for unobstructed joint movement. Furthermore, the proposed design enables online leg stiffness adjustments simply by changing the landing configuration of the knee joint. Experimental results demonstrate the effectiveness of the design in improving energy efficiency without compromising mobility. SPEAR can run with an electrical cost of transport of 0.86 at${ext{0.5 }}{ext{m/s}}$, as well as reach a toe clearance of more than${ext{45}%}$of its leg length. The overall design is compact and reliable, and can be easily scaled for legged robots with different sizes.
机译：受顺应性元素在动物运动中的作用的激励，弹簧被引入有腿机器人的传动系统中，以改善其运动性能。本文介绍了驱动单脚可切换并联弹性致动器机器人（SPEAR）的可切换并联弹性致动器设计的工作原理，硬件实现和实验评估。在建议的设计中，机械开关与并联弹簧啮合 n <斜体xmlns：mml = “ http：//www.w3.org/1998/Math/MathML ” xmlns：xlink = “ http：// www .w3.org / 1999 / xlink “>仅在姿态阶段进行，以支持体重和促进能量恢复。在飞行过程中，弹簧松开以允许关节畅通无阻。此外，提出的设计仅通过更改膝关节的着陆配置即可实现在线腿部刚度的调整。实验结果证明了该设计在不降低移动性的情况下提高能源效率的有效性。 SPEAR的电气运输成本为0.86，运行成本为 n $ { t​​ext {0.5}} { t​​ext {m / s}} $ n，并且脚趾间隙大于 n $ { t​​ext {45} ％} $ n。整体设计紧凑可靠，可以轻松缩放以适应不同尺寸的有腿机器人。

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