Falling from a height of almost six meters, the support robot from boston dynamics looks like a dead creature, but it will recover like an intelligent animal with the help of its motor settings and intelligent mechanisms, the angle of the robot's leg spot is quite interesting remember the orientation of this leg in your mind now observe the two animals fastest in the wildebeest forest and interestingly this leg configuration is completely opposite when we look at the longest limbs yes one has legs bent forward while the other has legs bent backwards.
The chief engineer at saint spot mister zack is good despite continuing with the backward bend design now mister good despite testing two variants of the sport robot with the challenge of climbing stairs, this forward bending robot collides with the ladder but the legs bent backwards give it a clear advantage allowing it to climb the ladder is now the genius part, the main reason behind the backward design choice.
First let's die written when the robot is walking we can walk because our feet get a reaction force from the ground this is contrary to the force we apply to the ground, the same thing happens to the robot the motor in each leg must withstand this reaction force from the ground in the design of the robot both motors must play an active role in the motion of the robot, let's simplify the design of the legs to understand this concept clearly, let's replace the motor resistance with a simple torsion spring.
Can you tell if a force is applied in this way it is designed how these two springs will be compressed, hopefully most will answer b, when I apply a force to design a, firmly the two are not compressed or disturbed at all, but designed b these two springs will be compressed, this shows that in writing the backward bend on both motors will play the same role which is exactly why boston dynamics engineers chose the backward bend design for the spot robot you can easily find out the reason behind it with this torque analysis.
Another funny reason why spot technicians buy a back bend is because this type of robot can shake hands quite easily, let's design a support robot from scratch based on these backward bending legs, each leg obviously requires two motors to operate it, this visual clearly shows the details of the motor connection at the hip joint.
A set of planetary gears is used between the motor and this upper arm for torque multiplication you can see how it operates the upper limb when you start the motor, now let's see how the knee motor is connected, the knee motor stator is mounted with the lower end of the upper leg of the lower leg now connected to the knee motor rotor.
This is the correct setup the upper limb is supported by the motor and this leg supports the other motors, using these eight motors you can reach any angle for the eight limbs we can now attach the robot controller and vary this angle randomly, obviously the robot will not be able to make any movement which means if we give it a random angle, the spot robot might even crash.
We can imitate nature and solve this problem, here we record the angle of a dog's limbs at different times while walking, now let's apply these angles to the robot, hurray the robot moves forward smoothly, but with this design the battery charge is fast spot finished, let's analyze why this happens, when the hip motor rotates, it has to lift the weight of the upper leg of the lower leg and the knee motor as well, during the leg lifting operation the various forces acting on the motor are shown here.
You can reduce the power required for this lift simply by moving the knee motor closer to the hip motor, because the weight of the knee motor is closer to the hip motor the torque required is drastically reduced, but how to control it down further away from the knee motor, the answer is obvious It is a mechanism between the knee and lower leg motors.
Before understanding this mechanism let's make a little design change so that the torque requirement will be slightly reduced, replace all these big legs with thin carbon fiber legs, now let's get into the mechanism that boston dynamics engineers invented to operate the knee joint, to achieve this mechanism they first extend the lower leg behind the knee joint.
Posting Komentar