Theoretical estimation of the required power of the robot-android drives when walking at different speeds

Theoretical estimation of the required power of the robot-android drives when walking at different speeds

Alexander S. Gorobtsov
Doctor of Technical Science, Volgograd State Technical University (VSTU), Head of the Higher Mathematics Department, 28, pr. V.I. Lenina, Volgograd, 400005, Russia; Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Chief Research Scientist, 4, Maliy Kharitonyevskiy pereulok, Moscow, 101000, Russia, tel.: +7(8442)24-84-87, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5458-2240

Sergey K. Kartsov
Doctor of Technical Science, Moscow Automobile and Road Construction State Technical University (MADI), Professor of the Structural Mechanics Department, 64, Leningradskiy prospekt, Moscow, 125319, Russia, tel.: +7(926)354-58-76, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0006-1747-7464

Yuriy A. Polyakov
Doctor of Technical Science, Associate Professor, Moscow State Technological University «STANKIN», Professor of the Theoretical Mechanics and Strength of Materials Department, 1, Vadkovskiy pereulok, Moscow, 127994, Russia, tel.: +7(495)601-51-67, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-2964-9853

Anton V. Dianskiy
Graduate Student of the the Higher Mathematics Department, VSTU, 28, pr. V.I. Lenina, Volgograd, 400005, Russia, tel.: +7(8442)24-84-87, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received October 23, 2023

Abstract
A mathematical model for analyzing the power, consumed by the robot-android drives in rectilinear motion with a uniformly increasing speed, is considered. The mathematical model is compiled using the methods of multibody systems dynamics. Solving problems using the model is performed by numerical integration methods. The time dependences of the rotation angles drives and their angular velocities have been constructed. The dependences of the moments in drives in an unsteady mode of motion with increasing speed were also obtained. The drives with maximum energy consumption have been identified. It is shown, that the required power in the drives increases significantly with increasing speed of the robot. The nature of the power consumption in the drives has a pulsed form, with sections of positive and negative power, which indicates the possibility of significantly reducing energy consumption in the drives due to recuperation. The peak power in the most loaded lower limb drives can reach 0.7 kW. The total algebraic sum of power consumption in all drives is also approximately 0.7 kW. In this case, the total power absolute value of all drives reaches 2 kW. The maximum values of power consumption occur at high speeds – up to 0.9 m/s. At speeds up to 0.2 m/s, the total power does not exceed 150 – 200 W.

Key words
Robotics, walking robots, control, computer simulation.

DOI
10.31776/RTCJ.12207

Bibliographic description
Solnyshkin, S.A. (2024), "Theoretical estimation of the required power of the robot-android drives when walking at different speeds", Robotics and Technical Cybernetics, vol. 12, no. 2, pp. 132-138, DOI: 10.31776/RTCJ.12207. (in Russian).

UDC identifier
514.853:007.522

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