Start Date

7-5-2024 10:35 AM

End Date

7-5-2024 10:10 AM

Document Type

Full Paper

Keywords

Quadruped, Gearbox, Legged Robots

Description

This paper presents the design and analysis of a low-cost two-degree-of-freedom (2DOF) geartrain tailored for versatile applications in quadrupedal robots. Leveraging principles of simplicity and affordability, the described geartrain design aims to provide an effective solution for transferring power from motors to limbs while minimizing manufacturing costs. This paper discusses the key considerations in geartrain design, including gear ratio selection, material choice, and mechanical efficiency, highlighting the trade-offs between performance and cost. Through mathematical modeling and extensive testing, the ideal parameters of the geartrain are identified to achieve desired locomotion capabilities across various terrains and loads. This geartrain design offers a practical and economical solution for enhancing the agility and efficiency of quadrupedal robots in a wide range of applications.

DOI

https://doi.org/10.5038/WNDM8176

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May 7th, 10:35 AM May 7th, 10:10 AM

Design of a Low Cost 2DOF Geartrain for Broad Applications in Quadrupedal Robots

This paper presents the design and analysis of a low-cost two-degree-of-freedom (2DOF) geartrain tailored for versatile applications in quadrupedal robots. Leveraging principles of simplicity and affordability, the described geartrain design aims to provide an effective solution for transferring power from motors to limbs while minimizing manufacturing costs. This paper discusses the key considerations in geartrain design, including gear ratio selection, material choice, and mechanical efficiency, highlighting the trade-offs between performance and cost. Through mathematical modeling and extensive testing, the ideal parameters of the geartrain are identified to achieve desired locomotion capabilities across various terrains and loads. This geartrain design offers a practical and economical solution for enhancing the agility and efficiency of quadrupedal robots in a wide range of applications.