Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Investigation on the use of parallel four-bar linkages in humanoid robot legs during stand-up motion
Submission Author:
Thiago de Paula Sales , SP
Co-Authors:
Thiago Tonaco, Thiago de Paula Sales
Presenter: Thiago de Paula Sales
doi://10.26678/ABCM.COBEM2023.COB2023-1090
Abstract
Humanoid robots might be required to perform a stand-up motion, to recover their natural stance and continue to perform tasks, when balance is lost for some reason. Stand-up procedures might demand quite an effort from actuators, which might fail if not properly designed. Within this context, authors aim to compare two different designs for a humanoid robot leg, and their influence on loads required for actuation. The first type of leg corresponds to a serial arrangement of rigid links, while the alternative comprises the use of parallel four-bar linkages in place of the rigid bodies connecting ankle and knee, and the knee to the hip. The baseline robot one considers has been designed to participate in the RoboCup Humanoid League competition. The robot kinematic chain is modeled as a multibody system, using the SimScape platform. Through a kinematic analysis, the angles of the ankle and knee joints are determined from the motion specified for the hip. Different stand-up motions are considered, and their influence on actuation is considered. Results show that the use of four-bar linkages in the robot's legs can better distribute actuation requirements, which can be desired in several humanoid robot applications.
Keywords
Humanoid Robot, mechanical design, four-bar linkage, multibody dynamics
