Archive | 2019
On Energetically Effective Modes of Walking Robots Movement
Abstract
One of the urgent problems facing the developers of multi-legged walking machines and robots is to increase the energy efficiency of the propulsion devices. During the transfer phase, the propulsion device detaches from the ground, rises to a certain height, and then descends to the ground. Having information on the nature of the profile of the bearing surface, it is possible to significantly reduce the distance traveled by the support and reduce the power required from the drive motor for carrying it according to the required law. The problem is set and a method is proposed for selecting the optimal energy losses for the motion of the walking robot for walking robot “Ortonog”, which was created in Volgograd at 2009–2011, by the criterion of minimum heat loss of energy when moving along an uneven surface. It is established that the mass-geometric parameters of the robot, characteristic of its drives and the geometric parameters of the supporting surface and the motion parameters influence the energy efficiency of the motion regime.