Power Efficient Design a Compliant Robotic Leg Based on Klann's Linkage

摘要

This article presents the analysis and optimization of a compliant robotic leg based on Klann's linkage. This leg is specifically designed to efficiently distribute its power requirement over its complete motion cycle, avoiding large peaks in the energy drawn from the battery. The structural compliance of the leg will be shown to be able to both provide a satisfactory walking motion and a timely energy boost to help with the gait. Klann's linkage is selected here as the basic kinematic structure of the leg to demonstrate the proposed methodology, namely to combine in a single structure both a complex trajectory generation and energy storage/release. This work is first aiming at proposing a thorough kinematic analysis of that mechanism using planar screw theory. The latter will be shown to be able to efficiently provide the velocity equations of the linkage as well as its force input–output relationship and singularity conditions. In a second part of this article, the previous kinetostatic model will be used to design and optimize a compliant version of the leg optimizing the power required for the robot to move. Finally, experiments will be shown to support the proposed approach.