COMPARISON OF MECHANICAL DESIGN AND FLOW ANALYSIS OF QUADRUPED ROBOTS

Year 2024, Volume: 8 Issue: 2, 162 - 172, 30.08.2024

Enes Uzun , Cengiz Tepe

https://doi.org/10.46519/ij3dptdi.1437626

Abstract

In recent years, there has been a trend of developing innovative technologies inspired by living creatures in nature. Quadruped robots, in particular, have emerged as walking mobile systems with articulated leg structures that can skilfully perform dynamic movements that wheeled systems are limited to. These robots offer advantages in technical criteria such as manoeuvrability, cross-capability, controllability, terrain adaptability and stability. It is important to note that this evaluation is based on objective technical criteria rather than subjective opinions. This study compares the advantages and disadvantages of quadruped robots to wheeled systems. It highlights that quadruped robots outperform wheeled systems in manoeuvrability, obstacle overcoming, and speed, particularly in rough terrains. The study also suggests that designers of quadruped robots should consider aerodynamic factors, which are often overlooked. Flow analysis using the finite element method is crucial in robot design to enhance aerodynamic performance. This paper aims to comprehensively analyse the flow structure around quadruped robots using Computational Fluid Dynamics and investigate passive flow control methods to reduce the drag coefficient (Cd). The study examines four different robots, and the resulting Cd average percentage calculations are presented. The aerodynamic efficiency of Robot 4 compared to Robot 2 was found to be 95%. Similarly, the aerodynamic efficiency of Robot 3 was determined to be 28% compared to Robot 2. Additionally, it was determined that the aerodynamic efficiency of Robot 2 was 76% compared to Robot 1. These results provide an important comparison to understand the energy efficiency, differences in aerodynamic performance and relative effectiveness of quadruped robots.

Keywords

Quadruped, Robot, Aerodynamic, Energy, Computational Fluid Dynamics

Project Number

-

References

• 1. Şen, M.A., Bakırcıoğlu, V. and Kalyoncu, M., “Three degree of freedom leg design for quadruped robots and fractional order pid (piλdμ) based control”, Konya Journal of Engineering Sciences, Vol. 8, Issue 2, Pages 237-247, 2020.
• 2. Chai, H., Li, Y., Song, R., Zhang, G., Zhang, Q., Liu, S., and Yang, Z., “A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach”, Biomimetic Intelligence and Robotics, Vol. 2, Issue 1, Pages 1-13, 2022.
• 3. Ekici, U. and Bilgin, N., “Design of a Quadruped Robot for Trajectory Planning and Obstacle Striding”, Fırat University Space and Defense Technologies Journal, Vol. 1, Issue 1, Pages 1-7, 2022.
• 4. Şen, M. A. and Kalyoncu, M., “A Literature Review on Modeling, Control and Walking on Rough Surfaces of Quadruped Robots”, Konya Journal of Engineering Sciences, Vol. 9, Issue 1, Pages 250-279, 2021.
• 5. Priyaranjan, B. and Prases, K.M., “Development of quadruped walking robots: A review”, Ain Shams Engineering Journal, Vol. 12, Issue 2, Pages 2017-2031, 2021.
• 6 Tanase, M., Ambe, Y., Aoi, S., and Matsuno, F., “A galloping quadruped model using left-right asymmetry in touchdown angles”, Journal of Biomechanics, Vol. 2, Issue 1, Pages 3383-3389, 2015.
• 7. Byeonghun, N. and Kyoungchul, K. “Design of a One Degree-of-Freedom Quadruped Robot Based on a Mechanical Link System: Cheetaroid-II”, IFAC-PapersOnLine, Vol. 49, Issue 21, Pages 409-415, 2016.
• 8. Özden, M., Çelik, B., Genç, M. S. and Açikel, H., “Rüzgar Türbini kanadında akış kaynaklı deformasyonlarının sayısal ve deneysel incelenmesi”, 3. İzmir Rüzgar Sempozyumu ve Sergisi, İzmir, Pages 113-125, 2015
• 9. Atique, M.M.U., Sarker, M.R.I. and Ahad, M.A.R., “Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention”, Heliyon, Vol. 4, Issue 12, Pages 1-19, 2018.
• 10. Yong, S., Teng, C., Yanzhe, H., and Xiaoli, W., “Implementation and dynamic gait planning of a quadruped bionic robot”, International Journal of Control, Automation and Systems, Vol. 15, Issue 6, Pages 2819-2828, 2017.
• 11. Xiong, W., “Structural Design and Motion Analysis of Universal Mobile Quadruped Robot”, International Journal on Smart Sensing and Intelligent Systems, Vol. 9, Issue 3, Pages 1305-1322, 2016.
• 12. Halkacı, H. S.and Yiğit, O., “Parametrik tasarım ve Solidworks CAD programı ile bir uygulama”, Mühendis ve Makine, Vol. 45 Issue 537, Pages 17-24, 2004.
• 13. Er, M. and Kayir, Y., “The Effect of The CAD Data Exchange on the Motion Analysis in the Solidworks CAD Program”, Aksaray University Journal of Science and Engineering, Vol. 3, Issue 1, Pages 51-60, 2019.
• 14. Bayındırlı, C., Çelik, M. and Demiralp M., “The Investigation Of Flow Characteristic Around A Bus Model By CFD Method And Improvement of Drag Force By Passive Flow Control Method”, Journal of Polytechnic, Vol. 21, Issue 4, Pages 785-795, 2018.
• 15. Yılmaz, G. and Yılmaz, S., “Analysis of Depth and Speed-Dependent Variation of Hydrodynamic Drift and Lift Forces in Unmanned Underwater Vehicles with CFD”, International Journal of Engineering Research and Development, Vol. 14, Issue 1, Pages 72-83, 2022.
• 16. Vergün, T., Kurumu, T. H., Oztürk and S., Nikbay, M., “Kanatçık Açısının Insansız Hava Aracının Aeroelastik Davranışına Etkisinin İncelenmesi”, 8. Ulusal Havacılık ve Uzay Konferansı, Ankara, Pages 137-140, 2020.
• 17. Akansu, Y.E., Bayındırli, C. and Seyhan, M., “The Improvement of Drag Force on a Truck Trailer Vehicle by Passive Flow Control Methods”, Journal of Thermal Science and Technology, Vol. 36, Issue 1, Pages 133-141, 2016.
• 18. Yarın, T.G., “Farklı Taşıt Modellerinin Aerodinamik Yapısının Numerik Olarak İncelenmesi”, Doktora Tezi, [Numerical Analysis of Aerodynamic Structure Of Different Vehicle Models], [Thesis in Turkish], Uludağ Üniversitesi, Bursa, 2019.
• 19. Belakaposki, J., “Cheetah Robot”, https://grabcad.com/library/cheetah-robot-version-1-0-1, February 11, 2024. 20. Heulin, J., “Spot Boston Dynamics”, https://grabcad.com/library/spot-bostondynamics-1, February 11, 2024.
• 21. Alp, B., “Diy Robot Dog: Kangal “, https://www.youtube.com/watch?v=ztCE2fqSIxo, February 11, 2024.