Pneumatic Foot Force Acquisition for Quadruped Robots
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Solution Overview
Problem
Traditional quadruped robot foot force acquisition systems are complex, prone to cable fatigue, and susceptible to sensor failure due to the use of electrical cables and strain gauges that are easily damaged by impact forces.
Innovation Solution
A novel foot force acquisition apparatus that uses an air tube to transmit pressure signals from an elastic foot pad with an air chamber to a pressure signal acquisition board, eliminating the need for electrical cables and simplifying the structure while reducing the risk of faults.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional force sensors with strain gauges and electrical cables are used, then force signals can be acquired, but the structure becomes complex and cables are prone to fatigue damage
Solution Approach 1:
The patent replaces the traditional electrical cable-based force signal transmission system with a pneumatic transmission system using air tubes. The force sensor is integrated into the foot pad, and force signals are transmitted through air tubes connected to a pressure sensor on the control board, eliminating the need for electrical cables to pass through rotating joints and reducing structural complexity.
Solution Approach 2:
The patent uses pneumatic transmission through air tubes to convey force signals from the foot pad to the control board. The air tubes connect the pressure sensor chamber in the foot pad to the pressure sensor on the control board, providing a reliable signal transmission medium that is resistant to fatigue damage compared to electrical cables.
2Measurement precision
If force sensors are placed in the foot pad, then force signals can be detected, but the sensors are easily damaged by impact forces
Solution Approach 1:
The patent integrates the force sensor within a cushioning foot pad structure that absorbs and dissipates impact forces. The foot pad material provides mechanical cushioning that protects the integrated force sensor from direct impact damage while still allowing accurate force signal detection during normal operation.
Solution Approach 2:
The patent merges the force sensor with the foot pad structure, integrating the sensing function directly into the foot pad. This integration allows the foot pad to serve dual purposes: providing mechanical cushioning/protection and enabling force signal detection, thereby protecting the sensor while maintaining measurement capability.
3Loss of information
If electrical cables pass through rotating joints, then signals can be transmitted, but the cables suffer from reciprocating bending and fatigue
Solution Approach 1:
The patent replaces electrical cable signal transmission through rotating joints with pneumatic signal transmission through air tubes. The air tubes connect the pressure sensor in the foot pad to the pressure sensor on the control board, eliminating the need for electrical cables to pass through rotating joints and thus preventing fatigue damage from reciprocating bending.
Solution Approach 2:
The patent introduces air tubes as an intermediary medium to transmit force signals from the foot pad to the control board. This intermediary pneumatic transmission system replaces the direct electrical cable connection, allowing signal transmission without subjecting the transmission medium to fatigue-inducing bending at rotating joints.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides a simple, reliable, and cost-effective method for acquiring foot force signals, reducing the probability of sensor failure and cable wear, and improving the fatigue life of the air tube at rotating joints.
Implementation Method 1
the elastic foot pad contacts the ground to deform and squeeze the air chamber
Implementation Method 2
one end of the air tube is communicated with the air chamber, and the other end is connected with the pressure signal acquisition board; the pressure signal acquisition board measures the change of the internal pressure value of the air chamber through the air tube
Data Source
AI summary
A foot force acquisition apparatus includes a first connecting rod, a pressure signal acquisition board, a second connecting rod rotatably connected with the first connecting rod, and an air tube provided in the first connecting rod and the second connecting rod. An end portion of the second connecting rod is fixedly provided with an elastic foot pad. An air chamber is provided in the elastic foot pad. One end of the air tube is connected with the air chamber. The other end is connected with the pressure signal acquisition board. By providing the pressure signal acquisition board and providing the air chamber in the foot, the air tube spans a joint formed by the first connecting rod and the second connecting rod to acquire the internal pressure value of the air chamber, thus achieving the advantages of simple structure, low cost and high reliability.