Modeling the Compliance of a Variable Stiffness C-shaped Leg Using Castigliano’s Theorem
نویسندگان
چکیده
This paper discusses the application of Castigliano’s Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular beam under the application of known static loads. We briefly discuss the further application of the new model for solving the dynamic equations of a hexapod robot with a C-shaped leg.
منابع مشابه
A torsional MRE joint for a C-shaped robotic leg
Serving to improve stability and energy efficiency during locomotion, in nature, animals modulate their leg stiffness to adapt to their terrain. Now incorporated into many locomotive robot designs, such compliance control can enable disturbance rejection and improved transition between changing ground conditions. This paper presents a novel design of a variable stiffness leg utilizing a magneto...
متن کاملDesign of a Tunable Stiffness Composite Leg for Dynamic Locomotion
Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environme...
متن کاملExperimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion
Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we pre...
متن کاملPrediction of sprint active women performance using vertical and leg stiffness
Introduction: The ability to attain high level of speed is an essential component of success in many sports fields. However, physical qualities that underpin this ability remain unclear. The purpose of this study was to investigate the role of leg stiffness and vertical stiffness in predicting sprint running. Methods: 50 healthy females were selected among physical education students. The requi...
متن کاملDesign of a Multi-directional Variable Stiffness Leg for Dynamic Running
Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which ...
متن کامل