Design of a spider-inspired wheeled compliant leg for search mobile robots  

作　　者：Yilin Wang Felix Pancheri Tim C.Lueth Yilun Sun 

机构地区：[1]Institute of Micro Technology and Medical Device Technology,Technical University of Munich,Garching 85748,Germany

出　　处：《Biomimetic Intelligence & Robotics》2024年第4期14-26,共13页仿生智能与机器人(英文)

基　　金：supported by the teaching funding of TUM School of Engineering and Design.

摘　　要：Earthquake and other disasters nowadays still threat people's lives and property due to their de-structiveness and unpredictability.The past decades have seen the booming development of search and rescue robots due to their potential for increasing rescue capacity as well as reducing personnel safety risk at disaster sites.In this work,we propose a spider-inspired wheeled compliant leg to further improve the environmental adaptability of search mobile robots.Different from the traditional fully-actuated method with independent motor joint control,this leg employs an under-actuated compliant mechanism design with overall semi-tendon-driven control,which enables the passive and active terrain adaptation,system simplification and lightweight of the realized search robot.We have generalized the theoretical model and design methodology for this type of compliant leg,and implement it in a parametric program to improve the design efficiency.In addition,preliminary load capacity and leg-lifting experiments are carried out on a one-leg prototype to evaluate its mechanical performance.A four-legged robot platform is also fabricated for the locomotion tests.The preliminary experimental results have verified the feasibility of the proposed design methodology,and also show possibilities for improvements.In future work,structural optimization and stronger actuation elements should be introduced to further improve the mechanical performance of the fabricated wheeled leg mechanism and robot platform.

关 键 词：Compliant leg Semi-tendon-driven mechanism Biomimetic design Search mobile robot 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]