2026-09-21T13:49:04Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/122087 2024-03-02 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Ramos, Joao 2023-12 application/pdf en text Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-12-01 The student, Youngwoo Sim, accepted the attached license on 2023-07-23 at 22:09. The student, Youngwoo Sim, submitted this Thesis for approval on 2023-07-23 at 22:13. This Thesis was approved for publication on 2023-07-28 at 09:29. DSpace SAF Submission Ingestion Package generated from Vireo submission #19782 on 2024-03-01 at 13:29:12 The effect of friction in transmission components on the dynamics of legged robots Sim, Youngwoo 2023-07-28 Actuation System Design Robotic System Design Humanoid Design The enduring stability of industrial manipulators, even when powered off, can be attributed to the joint friction, which prevents these systems from succumbing to their own weight. Although the friction-based mechanism provides effective stiff position control, specifically in pick-and-place applications, its suitability in legged robots is less ideal due to the necessity for rapid regulation of compliant interactions with environmental factors. There is, however, a dearth of metrics to measure a robot’s performance degradation due to mechanical losses in actuators and transmissions. This paper aims to bridge this gap by introducing a fundamental formulation that leverages the mechanical efficiency of transmissions to assess the impact of power losses in mechanical transmissions on the comprehensive dynamics of a robotic system. This paper presents quantitative evidence substantiating the intuitive fact that robots’ apparent inertia escalates with joint friction. Additionally, it illustrates that robots utilizing high gear ratio and low efficiency transmissions can statically bear more significant external loads. The provided framework, we hope, will serve as a key toolkit for designing future generations of legged robots capable of effectively interacting with their environment. Text eng https://hdl.handle.net/2142/122087 Copyright 2023 Youngwoo Sim M.S. Thesis Mechanical Engineering University of Illinois at Urbana-Champaign Mechanical Sci & Engineering