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5 August 2024 Design and simulation analysis of humanoid lower limb with a parallel compliant actuator
Bingyang Xiao, Zaojun Fang, Dexin Jiang, Junjun Chen, Yalin Wang
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Proceedings Volume 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024); 1322611 (2024) https://doi.org/10.1117/12.3038379
Event: 3rd International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 2024, Changsha, China
Abstract
This article presents a design method for humanoid lower limbs with a parallel compliant actuator. The integration of series-parallel main actuators and parallel efficient energy storage mechanisms significantly improves energy efficiency of the humanoid lower limb. The lower limb design is semi-anthropomorphic, with similar mass and mass distribution. Then a three-degree-of-freedom kinematic model of the humanoid lower limbs is established in the Cartesian coordinate system. Besides, The Lagrange equation is utilized to establish the inverse dynamics model, resulting in the derivation of the relationship between joint torque and joint angle. Subsequently, the parameters of elastic elements in the energy storage mechanism are optimized. The energy storage performance of the humanoid lower limbs is simulated in ADAMS. The simulation results validate that the parallel compliant actuation design can improve the energy efficiency of the lower limb, compared with rigid actuation systems.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Bingyang Xiao, Zaojun Fang, Dexin Jiang, Junjun Chen, and Yalin Wang "Design and simulation analysis of humanoid lower limb with a parallel compliant actuator", Proc. SPIE 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 1322611 (5 August 2024); https://doi.org/10.1117/12.3038379
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KEYWORDS
Elasticity
Actuators
Robots
Energy efficiency
Motion analysis
Kinematics
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