Computer Simulation and Its Application of a Low-energy Robot Mechanism with Collinear Driver

Based on the two-degree-of-freedom planar link topology, this paper deduces that five-bar mechanism is the simplest structure to realize the closed chain mechanism. After discussing the five-bar mechanism, it was found that a variant of the RPRPR structure could be used as the basic linkage group of the new closed chain leg mechanism and named as collinear driver mechanism. This paper establishes 3D model of the hexapod robot equipped with the collinear driver leg mechanism and the ordinary distributed leg mechanism, and imports them into the ADAMS for dynamic simulation. The collinear driver mechanism is used as a design scheme, and the distributed driver is used as a comparison scheme in order to verify whether the collinear driver mechanism is superior to the existing distributed driver mechanism in terms of energy consumption and dynamic parameters. From the comparison of the simulation results, it is found that the energy consumption of the collinear driver mechanism is significantly smaller than that of the distributed driver mechanism, which proves that it is a new design with low energy consumption in the closed chain leg mechanism. In addition, the distributed driver decoupling mechanism has high requirements on the peak power of the driver, and set the higher requirement of the joint drivers. The collinear driver decoupling mechanism allows the two drivers to work together.