Resumen de Optimal synthesis of walking robot leg
Bekzat Amanov, Zhomart Ualiyev, Aidos Ibrayev, Nutpulla K. Jamalov, Arman Ibrayeva, Sayat M. Ibrayev
Using a straight-line generating mechanism for a walking robot leg has several advantages over traditional bio-inspired leg designs including energy efficiency and simplicity of control system. As a walking robot propeller, we proposed a six-link mechanism based on our design of lambda-type mechanism, with an output link, which performs a rectilinear and translational movement. This ensures an unlimited range of foot adaptation on irregularities of the supporting surface. A new analytical method of mechanism synthesis is developed based on least square approximation, and its numerical implementation is presented. Due to minimizing the deviation directly from the desired output motion, the method does not suffer from so-called “branching defect” and allows synthesis of the mechanism with desired transmission angle. Improving the transmission angle ensures higher efficiency (therefore, lower power consumption) of the mechanism. A walking robot was developed using the optimal leg design which has high accuracy, optimum motion transfer, and step-cycle parameter which were achieved by multicriteria optimization based on the proposed synthesis method.
