Mechanical design of walking machines

2006 ◽  
Vol 365 (1850) ◽  
pp. 171-183 ◽  
Author(s):  
Keisuke Arikawa ◽  
Shigeo Hirose
Keyword(s):  
Energy Efficiency ◽  
Mechanical Design ◽  
Three Dimensional ◽  
Weight Ratio ◽  
Negative Power ◽  
Driving System ◽  
Walking Machine ◽  
Improve Energy Efficiency ◽  
Walking Machines ◽  
Severe Constraint

The performance of existing actuators, such as electric motors, is very limited, be it power–weight ratio or energy efficiency. In this paper, we discuss the method to design a practical walking machine under this severe constraint with focus on two concepts, the gravitationally decoupled actuation (GDA) and the coupled drive. The GDA decouples the driving system against the gravitational field to suppress generation of negative power and improve energy efficiency. On the other hand, the coupled drive couples the driving system to distribute the output power equally among actuators and maximize the utilization of installed actuator power. First, we depict the GDA and coupled drive in detail. Then, we present actual machines, TITAN-III and VIII, quadruped walking machines designed on the basis of the GDA, and NINJA-I and II, quadruped wall walking machines designed on the basis of the coupled drive. Finally, we discuss walking machines that travel on three-dimensional terrain (3D terrain), which includes the ground, walls and ceiling. Then, we demonstrate with computer simulation that we can selectively leverage GDA and coupled drive by walking posture control.

Positioning Performance Evaluation for Light-Weight Rotary Stage CFRP Application

2020 ◽  
Vol 14 (1) ◽  
pp. 80-90
Author(s):  
Makoto Kato ◽  
Yasuhiro Kakinuma ◽  
Yuki Shirakawa ◽  
Kazunori Iijima ◽  
Yasusuke Iwashita ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Machine Tools ◽  
Position Control ◽  
Mechanical Design ◽  
Global Climate ◽  
Resource Depletion ◽  
Industrial Sector ◽  
Improve Energy Efficiency ◽  
Rotary Stage ◽  
New Energy

New energy saving methods are required in the industrial sector to address global climate change and resource depletion. Carbon fiber reinforced plastic (CFRP) has attracted considerable attention as a structural material that can improve energy efficiency by weight reduction. The application of CFRP to machine tools has already been realized; however, the dynamic characteristics of the position control system for CFRP machine tools have not been investigated. In this study, the mechanical properties affecting the positioning performance were experimentally evaluated using a rotary stage that could be switched to different structural materials. This study can be useful as a guideline for position control systems and the mechanical design of a CFRP stage and contribute toward achieving higher energy efficiency.

Mechanical Design of a Non-Overconstrained Walking Machine

1995 ◽  
Author(s):  
E. Fichter ◽  
B. Fichter
Keyword(s):  
Force Control ◽  
Mechanical Design ◽  
Control Algorithms ◽  
Walking Machine ◽  
Walking Machines ◽  
Darkling Beetles ◽  
Leg Kinematics

Abstract This paper describes the mechanical design of a walking machine that avoids overconstraint. All current walking machines that are also capable of standing on their own are overconstrained and must depend on force control algorithms to control joints. From observations of darkling beetles we have concluded that it is possible for them to perambulate while keeping their bodies constrained but not overconstrained. Our walking machine was built to test hypotheses of how these beetles walk. We discuss the aspects of beetle leg kinematics that are most important for non-overconstrained walking.

scholarly journals Motor shifting and torque distribution control of a multi-motor driving system in electric construction vehicles

2021 ◽  
Vol 13 (6) ◽  
pp. 168781402110284
Author(s):  
Weikang Kong ◽  
Jixin Wang ◽  
Dewen Kong ◽  
Yuanying Cong ◽  
Shuangshi Feng
Keyword(s):  
Power Systems ◽  
Control Method ◽  
Simulation Analysis ◽  
Rapid Development ◽  
Transmission Efficiency ◽  
Torque Distribution ◽  
Driving System ◽  
Construction Machinery ◽  
Improve Energy Efficiency ◽  
Parameter Matching

With the rapid development of the world economic construction and the shortage of energy, it has become a hot research issue to realize the electrification of the vehicle driving system and improve energy efficiency. Most of the electric construction machinery power systems are characterized by low speed and high load. The coordinated driving of multiple motors can increase the output torque and improve the transmission efficiency of the machine on the basis of a compact layout. A novel configuration of electric construction vehicles based on multi-motor and single-speed and its driving torque distribution control method is presented in this paper. The detailed mathematical model is established and the simulation analysis is carried out based on it. The results show that the proposed multi-motor driving system with the control strategy can improve the overall efficiency in the condition of ensuring the driving force when the parameter matching and motors choosing reasonably.

scholarly journals Are Cross-Border Classes Feasible for Students to Collaborate in the Analysis of Energy Efficiency Strategies for Socioeconomic Development While Keeping CO2 Concentration Controlled?

2021 ◽  
Vol 13 (3) ◽  
pp. 1584
Author(s):  
Roberto Araya ◽  
Pedro Collanqui
Keyword(s):  
Energy Efficiency ◽  
Socioeconomic Development ◽  
Concept Maps ◽  
Research Question ◽  
Co2 Concentration ◽  
Asia Pacific ◽  
School Students ◽  
Improve Energy Efficiency ◽  
Cross Border ◽  
Science Classes

Education is critical for improving energy efficiency and reducing CO2 concentration, but collaboration between countries is also critical. It is a global problem in which we cannot isolate ourselves. Our students must learn to collaborate in seeking solutions together with others from other countries. Thus, the research question of this study is whether interactive cross-border science classes with energy experiments are feasible and can increase awareness of energy efficiency among middle school students. We designed and tested an interactive cross-border class between Chilean and Peruvian eighth-grade classes. The classes were synchronously connected and all students did experiments and answered open-ended questions on an online platform. Some of the questions were designed to check conceptual understanding whereas others asked for suggestions of how to develop their economies while keeping CO2 air concentration at acceptable levels. In real time, the teacher reviewed the students’ written answers and the concept maps that were automatically generated based on their responses. Students peer-reviewed their classmates’ suggestions. This is part of an Asia-Pacific Economic Cooperation (APEC) Science Technology Engineering Mathematics (STEM) education project on energy efficiency using APEC databases. We found high levels of student engagement, where students discussed not only the cross-cutting nature of energy, but also its relation to socioeconomic development and CO2 emissions, and the need to work together to improve energy efficiency. In conclusion, interactive cross-border science classes are a feasible educational alternative, with potential as a scalable public policy strategy for improving awareness of energy efficiency among the population.

scholarly journals Dimensionless Analysis on the Characteristics of Pneumatic Booster Valve with Energy Recovery

2016 ◽  
Vol 2016 ◽  
pp. 1-13
Author(s):  
Fan Yang ◽  
Kotaro Tadano ◽  
Gangyan Li ◽  
Toshiharu Kagawa
Keyword(s):  
Mathematical Model ◽  
Energy Efficiency ◽  
Energy Recovery ◽  
Operational Parameters ◽  
Local Pressure ◽  
Air Power ◽  
Improve Energy Efficiency ◽  
Dimensionless Analysis ◽  
Air Supply ◽  
Save Energy

Factories are increasingly reducing their air supply pressures in order to save energy. Hence, there is a growing demand for pneumatic booster valves to overcome the local pressure deficits in modern pneumatic systems. To further improve energy efficiency, a new type of booster valve with energy recovery (BVER) is proposed. The BVER principle is presented in detail, and a dimensionless mathematical model is established based on flow rate, gas state, and energy conservation. The mathematics model was transformed into a dimensionless model by accurately selecting the reference values. Subsequently the dimensionless characteristics of BVER were found. BVER energy efficiency is calculated based on air power. The boost ratio is found to be mainly affected by the operational parameters. Among the structural ones, the recovery/boost chamber area ratio and the sonic conductance of the chambers are the most influential. The boost ratio improves by 15%–25% compared to that of a booster valve without an energy recovery chamber. The efficiency increases by 5%–10% depending on the supply pressure. A mathematical model is validated by experiment, and this research provides a reference for booster valve optimisation and energy saving.

scholarly journals Technological Energy Efficiency Improvements in Cement Industries

2021 ◽  
Vol 13 (7) ◽  
pp. 3810
Author(s):  
Alessandra Cantini ◽  
Leonardo Leoni ◽  
Filippo De Carlo ◽  
Marcello Salvio ◽  
Chiara Martini ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Descriptive Analysis ◽  
Cement Industry ◽  
Cement Plant ◽  
Improve Energy Efficiency ◽  
Energy Needs ◽  
Industrial Energy ◽  
Industrial Energy Consumption ◽  
Alternative Solutions

The cement industry is highly energy-intensive, consuming approximately 7% of global industrial energy consumption each year. Improving production technology is a good strategy to reduce the energy needs of a cement plant. The market offers a wide variety of alternative solutions; besides, the literature already provides reviews of opportunities to improve energy efficiency in a cement plant. However, the technology is constantly developing, so the available alternatives may change within a few years. To keep the knowledge updated, investigating the current attractiveness of each solution is pivotal to analyze real companies. This article aims at describing the recent application in the Italian cement industry and the future perspectives of technologies. A sample of plant was investigated through the analysis of mandatory energy audit considering the type of interventions they have recently implemented, or they intend to implement. The outcome is a descriptive analysis, useful for companies willing to improve their sustainability. Results prove that solutions to reduce the energy consumption of auxiliary systems such as compressors, engines, and pumps are currently the most attractive opportunities. Moreover, the results prove that consulting sector experts enables the collection of updated ideas for improving technologies, thus giving valuable inputs to the scientific research.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

scholarly journals Energy-Efficient Hybrid Routing Protocol for IoT Communication Systems in 5G and Beyond

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 537
Author(s):  
Mohammad Baniata ◽  
Haftu Tasew Reda ◽  
Naveen Chilamkurti ◽  
Alsharif Abuadbba
Keyword(s):  
Energy Efficiency ◽  
Network Lifetime ◽  
Energy Efficient ◽  
Communication Systems ◽  
Multiple Input Multiple Output ◽  
Sensor Nodes ◽  
Clustering Methods ◽  
Mimo Antenna ◽  
Improve Energy Efficiency ◽  
Art Research

One of the major concerns in wireless sensor networks (WSNs) is most of the sensor nodes are powered through limited lifetime of energy-constrained batteries, which majorly affects the performance, quality, and lifetime of the network. Therefore, diverse clustering methods are proposed to improve energy efficiency of the WSNs. In the meantime, fifth-generation (5G) communications require that several Internet of Things (IoT) applications need to adopt the use of multiple-input multiple-output (MIMO) antenna systems to provide an improved capacity over multi-path channel environment. In this paper, we study a clustering technique for MIMO-based IoT communication systems to achieve energy efficiency. In particular, a novel MIMO-based energy-efficient unequal hybrid clustering (MIMO-HC) protocol is proposed for applications on the IoT in the 5G environment and beyond. Experimental analysis is conducted to assess the effectiveness of the suggested MIMO-HC protocol and compared with existing state-of-the-art research. The proposed MIMO-HC scheme achieves less energy consumption and better network lifetime compared to existing techniques. Specifically, the proposed MIMO-HC improves the network lifetime by approximately 3× as long as the first node and the final node dies as compared with the existing protocol. Moreover, the energy that cluster heads consume on the proposed MIMO-HC is 40% less than that expended in the existing protocol.

Sign in / Sign up

Export Citation Format

Share Document