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Development of a Database to Simulate and Adapt Compliant Mechanisms to a Given Characteristic for Improving Energy Efficiency of a Walking Robot

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Microactuators, Microsensors and Micromechanisms (MAMM 2022)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 126))

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Abstract

Compliant mechanisms with variable geometric parameters are investigated for the application in a bipedal robot to improve its walking efficiency. These mechanisms have nonlinear torque-angle characteristics and act like torsion springs to change the systems free oscillation frequency. High energy efficiency is achieved if the free oscillation frequency matches the step frequency, meaning the that the robot walks in resonance. For this purpose, the desired characteristic of the optimized elastic coupling is identified via optimization. Then, a database is developed, which consists of boundary conditions and beam elements. In this paper, there are three boundary conditions and three beam elements for demonstration purpose. To simulate a large number of compliant mechanisms with different characteristics, two boundary conditions and a beam element can be combined. The boundary conditions serve as bearing types to connect the beam element to the thighs of a robot. The large deformation behavior is assumed to be simulated by the Euler-Bernoulli beam theory, which is validated by FEM models. Thus, the desired characteristic from the proceeding optimization process is realized by a specific compliant mechanism.

Supported by the German Research Foundation (DFG) grant number FI 1761/4-1 and ZE 714/16-1

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Author information

Authors and Affiliations

  1. Technische Universität Ilmenau, Compliant Systems, Ilmenau, Germany

    Marten Zirkel & Lena Zentner

  2. Institute of Engineering Mechanics, Karlsruhe Institute of Technology, Karlsruhe, Germany

    Yinnan Luo, Ulrich J. Römer & Alexander Fidlin

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  1. Marten Zirkel
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  2. Yinnan Luo
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  3. Ulrich J. Römer
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  4. Alexander Fidlin
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  5. Lena Zentner
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Correspondence to Marten Zirkel .

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Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India

    Ashok Kumar Pandey

  2. Department of Physics, Indian Institute of Technology Hyderabad, Sangareddy, Telangana, India

    Prem Pal

  3. Central Manufacturing Technology Institute, Bengaluru, Karnataka, India

    Nagahanumaiah

  4. Department of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany

    Lena Zentner

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Zirkel, M., Luo, Y., Römer, U.J., Fidlin, A., Zentner, L. (2023). Development of a Database to Simulate and Adapt Compliant Mechanisms to a Given Characteristic for Improving Energy Efficiency of a Walking Robot. In: Pandey, A.K., Pal, P., Nagahanumaiah, Zentner, L. (eds) Microactuators, Microsensors and Micromechanisms. MAMM 2022. Mechanisms and Machine Science, vol 126. Springer, Cham. https://doi.org/10.1007/978-3-031-20353-4_4

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  • DOI: https://doi.org/10.1007/978-3-031-20353-4_4

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