DocumentCode
652965
Title
Spring parameters design to increase the loading capability of a hydraulic quadruped robot
Author
Xianbao Chen ; Feng Gao ; Chenkun Qi ; Xianchao Zhao
Author_Institution
Sch. of Mech. Eng., Shanghai Jiao Tong Univ., Shanghai, China
fYear
2013
fDate
25-27 Sept. 2013
Firstpage
535
Lastpage
540
Abstract
A quadruped robot “Baby Elephant” with parallel legs has been developed. It is about 1 m tall, 1.2 m long and 0.5m wide. It weighs about 130 kg. Driven by a new type of hydraulic actuation system, the Baby Elephant is designed to work as a mechanical carrier. It can carry a payload more than 50 kg. In this study, the structure of the legs is introduced first. Then the effect of the springs for increasing the loading capability is explained and discovered. The design problem of the spring parameters is also discussed. Finally, simulations and experiments are carried out to confirm the effect.
Keywords
design engineering; legged locomotion; robot dynamics; springs (mechanical); baby elephant; hydraulic quadruped robot; loading capability; mass 130 kg; mechanical carrier; parallel legs; spring parameters design; Actuators; Loading; Robots; Springs; loading capbility; parallel leg; quadruped robot; spring;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Mechatronic Systems (ICAMechS), 2013 International Conference on
Conference_Location
Luoyang
Print_ISBN
978-1-4799-2518-6
Type
conf
DOI
10.1109/ICAMechS.2013.6681702
Filename
6681702
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