Actuator Design And Control Strategy Based On Energy Efficiency Optimization Of Quadruped Robot

Quadruped robot can play a very important role in disaster relief,military,exploration,escort and other fields because of its excellent performance and environmental adaptability.But at the present stage,the quadruped robot consumes a lot of energy and has a short battery life.It is difficult to compl ete the task under limited energy supply in the face of complex environment and difficult operation.Therefore,it is of great significance for quadruped robot to realize energy efficient utilization of quadruped robot to achieve long time effective work.In order to solve this problem,this paper designs a new type of elastic actuator with high energy efficiency from the point of view of quadruped robot driver and motion control,and studies the energy saving of quadruped robot.In order to meet the requirements of efficient utilization of energy for quadruped robot,a new design scheme of elastic actuator and the energy efficient motion strategy of quadruped robot are proposed.The quadruped robot's energy consumption and achieve efficient use of energy method conducted in-depth research,based on the concept of series elastic actuation,carry out the design of mechanical design of elastic element analysis,simulation,and testing the entire drive;a series elastic actuator dynamics model,torque control mo del and position control model,and the model the analysis and verification of the corresponding process;analysis of rigid and flexible drive in the energy transfer process of the use of different effects from the drive,combined with the operating space dynamic analysis of factors that influence the energy dissipation of interactive collision machine and environment in the process of motion quadruped robot;for different robots,from static and dynamic angle movement according to the analysis and test of energy consumption of the proposed energy saving movement strategy.This paper respectively drive joints from the quadruped robot design and motion optimization strategy two aspects to achieve efficient utilization of the energy of the quadruped robot,the results confirmed that the design and strategy can reduce the energy consumption of quadruped robot motion effectively,and significantly improve the robot's endurance.