Legged Robot Leg Assembly Inertia Segmentation
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Solution Overview
Problem
Legged robots face challenges due to high rotational inertia in the shank relative to the thigh, leading to large forces and impacts, noise, low reliability, and difficulty in accurate control.
Innovation Solution
A leg assembly design for legged robots featuring a motor, output flange, and transmission component, with stop portions and limiting portions to control the rotation angle of the output flange and second leg, reducing forces and impacts, improving reliability, and facilitating precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the shank is designed with large rotational inertia relative to the thigh, then the leg assembly can generate larger forces, but the forces and impacts on each member increase significantly
Solution Approach 1:
The leg assembly is divided into thigh and shank segments with distinct rotational inertia characteristics. The thigh is designed with larger rotational inertia while the shank has smaller rotational inertia, segmenting the mass distribution to reduce impacts on the shank while maintaining force generation capability through the thigh's inertia
Solution Approach 2:
The rotational inertia parameters of the thigh and shank are optimized with specific ratios. The thigh's rotational inertia is increased relative to the shank, changing the mass distribution parameters to reduce the forces and impacts acting on the shank members while preserving the leg assembly's overall force generation capability
2Force
If the shank has large rotational inertia, then force generation is improved, but noise increases
Solution Approach 1:
The leg assembly segments the rotational inertia between thigh and shank, placing larger inertia in the thigh rather than the shank. This segmentation reduces the dynamic impacts and noise generated during leg assembly operation while maintaining the necessary force generation capability
Solution Approach 2:
The rotational inertia ratio between thigh and shank is optimized to reduce noise. By adjusting the mass distribution parameters and rotational inertia characteristics, the design minimizes vibrations and noise during operation while preserving force generation
3Force
If the shank has large rotational inertia, then force generation is improved, but control precision deteriorates
Solution Approach 1:
The leg assembly segments the rotational inertia distribution, concentrating larger inertia in the thigh and smaller inertia in the shank. This segmentation improves control precision by reducing the moment of inertia at the shank joint, making it easier to control while maintaining force generation through the thigh's larger inertia
Solution Approach 2:
The rotational inertia parameters are optimized with specific ratios between thigh and shank. By changing the mass distribution and rotational inertia characteristics, the design achieves better control precision while preserving the force generation capability of the leg assembly
Data Source
AI summary
A leg assembly and a legged robot having same are provided. The leg assembly includes a first leg, a second leg, a motor, an output flange and a transmission component. The motor is arranged at a first end of the first leg, and an output shaft of the motor is connected to the output flange to drive the output flange to rotate. The first leg is pivotably connected to the second leg, and the transmission component is connected to the output flange and the second leg to drive the second leg to rotate relative to the first leg. The output flange is provided with a first limiting portion, the first leg is provided with a first stop portion and a second stop portion spaced apart and configured to stop the first limiting portion, and the first leg is provided with a second limiting portion configured to stop the second leg.