Mecanismo Planar 2R Con articulaciones complacientes para simulación de caminata bipeda
Résumé
In general, applications related to research in bipedal walking have been oriented towards the simulation of human movement biomechanics. The purpose of this work was the research, design, and implementation of a model that meets the necessary characteristics for control, joint stiffness, and energy management in 2R mechanisms for human walking. With the prototype, research will be conducted in force and torque control for sub-actuated mechanisms and with compliant joint control. The project focused mainly on the design of rotary series elastic actuators (RSEA) for each joint. The RSEAs allow for reduced energy consumption during operation and smoother movement, as well as accurate torque measurement carried out through the angular deflection of the spring. The system has the capability to restrict movement to simulate the angles used by a human leg in walking, and it is also capable of generating movement routines for the evaluation of the same mechanism and trajectories required in research. For this, it should be taken into account that variables such as force, torque, and speed were implemented at a scale of 1:1.5 in relation to the actual magnitudes of a human leg and at a scale of 1:12 with respect to mass.
Domaines
Automatique / Robotique
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licence : CC BY NC SA - Paternité - Pas d'utilisation commerciale - Partage selon les Conditions Initiales
licence : CC BY NC SA - Paternité - Pas d'utilisation commerciale - Partage selon les Conditions Initiales