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Leg Actuators Motor Selection |
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Both the Horizontal and Vertical actuators make use of ball screws with a pitch of 10 mm and 31 mm nominal diameter.
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The stroke of actuator is 115 mm. The motor is of Rallis make (Model SPM 13, AC/DC motor) with an output of 350 Watts and speed ranging from 2000 to 15000 rpm. The horizontal actuator is also ball-screw driven by a motor through a gear reduction of 5.3
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The swivel motion is obtained from a Rallis motor (Model SPM 24, AC/DC motor) with an output power of 180 Watts and speed ranging from 1520 to 2800 rpm. The motor drives the output through a 41:1 gear reducer.
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Implementation and Trials |
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The final weight of the walking machine is more than to 250 kg instead of the original estimate of 150 kg. This was due to the fact that the actual vertical and horizontal actuators weighed one and a half times the original estimate. This led to a substantial increase in the overall weight of the machine and the forces on the leg bearings. Consequently several parts, like the leg bearing housings, had to be redesigned for greater strength and resulted in further increase in weight.
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The walking machine was run using both external power supply with umbilical cord and on-board batteries. The Robot was moved at one-third the rated speed using crab gait. |
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