Theoretical and experimental study on a compliant flipper-leg during terrestrial locomotion

Structural optimisation for controlled deflections of additively manufactured single material beams

Closely controlling the mechanical behaviour and characterization of the deflection of a beam structure is a well-known and widely studied engineering problem. The progress in additive manufacturing methods and the possibilities to closely control the material property variations with the controlled placement of materials further widen the opportunities to achieve given beam deflection criteria. The multi-material additive manufacturing solutions suffer from the lack of real engineering material options, and the quality and performance of the printed parts are usually unsuitable for producing functional parts. A novel cellular structured solution is proposed here, which utilises optimisation of geometries of individual cells of a single material structured beam to obtain deflection profiles closely matched with preset conditions under different loading conditions. The cellular geometry of the structured beam is continually altered for searching and converging on the optimal structure of the cells by the covariance matrix adaptation evolution strategy algorithm in an iterative manner. The optimised beam structures could also be physically produced with single material additive manufacturing methods and the experimental and numerical beam deflection responses correlated closely.

Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

Chinese mitten crabhas unique limb structures composed of a hard exoskeleton and flexible muscles. They enable the crab to locomote adaptively and safely on various terrains. In this work, we investigated the limb structures, motion principle, and gaits of the crab using a high-speed camera and a press machine. Then, a novel compliant robot leg design method is proposed, inspired by the crab limb. The leg comprises six hard scleromeres and a flexible thin-wall spring steel sheet (FSSS) mimicking the exoskeleton and muscle. The scleromeres connected one by one with rotational joints are designed with slots. The front end of the FSSS is fixed on the scleromere close to the ground. The rear end crosses the slots and is mounted at the shaft of a linear actuator installed at the rear scleromere. The leg bends and stretches when the actuator pushes and pulls the FSSS, respectively. The kinematic modeling, rigid-flexible coupling dynamic simulations, and leg prototype tests are conducted, which verify the leg design approach. Thirdly, we put forward a multi-legged robot with eight compliant legs and design its gait using the gaits of the crab. Finally, the robot's performance is evaluated, including the capabilities of walking on different terrains at adjustable speeds and body heights, traversing low channels, walking on slopes, and carrying loads. The results prove that the single-motor-actuated compliant legs and their dynamic coupling with the rigid robot body frame can enable them to have the ground clearance ability and realize the adaptive walking of the robot. The leg design methodology can be used to design multi-legged robots with the merits of compact, light, low mechanical complexity, high safety, and easy to control, for many applications, such as environmental monitoring, search and rescue.