Design and analysis of high dynamic actuator and implementation on quadruped robot

摘要

Abstract Legged robot research is increasingly pursuing higher speed and higher dynamic manoeuvrability under higher load conditions, however, it poses more stringent challenges to the design of actuator. Under the constraints of actual size and weight restrictions, designing actuators that meet the requirements of high dynamic performance has become the pursuit of many robot designers, and has even become a key factor to limit and constrain the robot’s capability boundary. This paper takes the quadruped robot as the research object, and focuses on analysing the technical requirements of actuators under various gaits and working conditions, A 3-DOF pseudo-direct-drive actuator configuration scheme based on axial magnetic field is proposed. Under the control of the designed force-position hybrid control strategy, the test results of actuator and robot prove that the designed scheme can meet the high mobility with dynamic locomotion capability of the robot.