Grundsatzuntersuchungen, mathematische Modellierung und Ableitung einer Auslegungsmethodik für Gelenkantriebe nach dem Spinnenbeinprinzip

Description

The biomimetic transfer of mechanisms and modes of action has great potential for technical developments. From a biomimetic point of view, biological spider legs are destined for robotic drives. They offer not only enhanced sensitivity with in a lightweight and compact design, yet also enable powerful and dynamic movements. In this work, the transfer of the biological model into a technical pivot drive was carried out using the biology‐push‐principle. Mathematical modelling and experimental verification of the theoretical behaviour was initially carried out. Furthermore, a design method was developed based on the knowledge gained. An example implementation was shown in form of a biomimetic joint actuator for an eight‐legged walking robot. With the dimensioning method, the spider leg actuator is universally applicable and can be used as a novel actuator in robotics.