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Direct-drive rotary actuators usually have to be custom designed to get torque outputs high enough to rotate the walker s joints. They have low power density and usually make the walker s joints look unnaturally large. They are very easy to control accurately and facilitate a modular design since the actuator can be thought of conceptually and physically as the complete joint. This is not true of either linear actuated or cable driven joints. Cable-driven joints have the advantage that the actuators can be located in the body of the robot. This makes the limbs lighter and smaller. In applications where the leg is very long or thin, this is critical. They are somewhat easy to implement, but can be tricky to properly tension to get good results. Cable management is a big job and can consume many hours of debug time.
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Walking robots use legs with from one to four degrees of freedom (DOF). There are so many varieties of layouts only the basic designs are discussed. It is hoped the designer will use these as a starting point from which to design the geometry and actuation method that best suits the application. The simplest leg has a single joint at the hip that allows it to swing up and down (Figure 7-1). This leg is used on frame walkers and can be actuated easily by either a linear or rotary actuator. Since the joint is already near the body, using a cable drive is unnecessary. Notice that all the legs shown in the following figures have ball shaped feet. This is necessary because the orientation of the foot is not controlled and the ball gives the same contact surface no matter what orientation it is in. A second method to surmount adding orientation controlled feet is to mount the foot on the end of the leg with a passive ball joint. The following four figures show two-DOF legs with the different actuation methods. These figures demonstrate the different attributes of the actuation method. Figure 7-2 shows that linear actuators make the legs much wider in one dimension but are the strongest of the three. Figure 7-3 shows a mechanism that keeps the second leg segment vertical as it is raised and lowered. The actuator can be replaced with a passive link, making this a one-DOF leg whose second segment doesn t swing out as much as the leg shown in Figure 7-2.
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Figure 7-1 One-DOF leg for frame walkers
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Figure 7-2 Two-DOF leg using linear actuators
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Figure 7-3 Two-DOF leg using linear actuators with chassis-mounted knee actuator
Rotary actuators (Figure 7-4) are the most elegant, but make the joints large. The cable driven layout (Figure 7-5) takes up the least volume and has no exposed actuators. Both of these methods are common, mostly because they use motors in a simple configuration, rather than linear actuators. Their biggest drawback is that they need to be big to get enough power to be useful. iRobot s Genghis robot used two hobby servos bolted together, acting as rotary actuators, to get a very effective twoaxis hip joint. This robot, and several others like it, use simple straight legs. These simple walker layouts are useful preliminary tools for those interested in studying six-legged walking robots. To turn the two-DOF linear actuator layout into a three-DOF, a universal joint can be added at the hip joint. This is controlled with an actuator attached horizontally to the chassis. Figure 7-6 shows a simple design for this universal hip joint. The order of the joints (swing first, then raise; or raise first, then swing) makes a big difference in how the foot location is controlled and should be carefully thought out and prototyped before building the real parts. The three-DOF rotary actuator leg (Figure 7-7) adds a knee joint to the Genghis layout for improved dexterity and mobility. There are many varieties of this layout that change the various lengths of the segments
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