Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Abstract The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, effective utilization rate energy is not high, which has become an important obstacle practical application. To research power consumption characteristics mobile system beneficial speed up it toward practicability. Based on configuration walking modes robot, mathematical model set up. In view tripod gait often selected for robots, simplified under established by means reducing dimension robot's statically indeterminate problem constructing equal force distribution. Then, solved different working conditions. variable tendencies are respectively obtained changes rotational angles hip joint knee joint, body height, span. articulated zones ranges height span determined lowest consumption. According experiments prototype, average acquired duty ratio, feasibility correctness theory analysis verified system. proposed method this paper provide a reference lower multi-legged robots.