Electric Machine Capability Characterization for Actuators in Disaster Response Robots Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/fb494b67x

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  • Disaster response robots need to be simultaneously able to survive extreme environment and complete the mission efficiently and robustly. One of the determinants is the performance of the actuators in each joint, which drive the robot to the desired motion accurately. In robotics society, people usually build their robots directly using off-the-shelf motor according to the maximum torque and speed they need and the capability of the motors. Without appropriate torque-speed characteristic, the actuators will fail to get to their designated position with enough torque and speed. This thesis simulated different situations that a disaster response robot would encounter, and the toque-speed characteristic that a motor need for each different joint of the lower body of a robot in various motion. Forward and inverse kinematic have been calculated to analyze the dynamic movement of the robot. Command trajectories have been generated according to human biomechanics and justified by Zero Moment Point (ZMP) criteria in order to keep the equilibrium of the robot. There is a servomotor attached to every one degree-of-freedom (DoF) joint to simulate a perfect actuator ensuring the joint following the desired trajectory. This thesis achieved keeping the robot stable at all time and found out the torque-speed characteristic required to act as an ankle, knee, or hip actuator.
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