In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot. The motor is rigidly connected to the articulated lever. When the lever is accelerated or decelerated, the elastic unit is introduced. The system can be considered as a special variable-rate elastic system. This paper will study it from theory and simulation experiments. Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established. By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced. The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption.

中文翻译：

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非线性弹性关节腿机器人的刚度和能耗分析。

为了减少有腿机器人行走时的能量消耗，基于哺乳动物在肢体上行走，从柔性可变刚度关节设计了一种非线性弹性关节，并优化了有腿机器人的腿部结构。电机与铰接杆牢固连接。当杠杆加速或减速时，将引入弹性单元。该系统可以视为特殊的可变速率弹性系统。本文将通过理论和仿真实验对其进行研究。在动力学分析的基础上，建立了输出扭矩与扭簧刚度之间的函数关系，以及能量消耗与扭簧刚度之间的函数关系。通过找到极值，推论出可以使所需的平均输出扭矩最小化的两个最佳扭转弹簧刚度，以及一个运动周期内消耗的能量。结果表明，在合理的位置使用该设计可以有效地减少系统的能耗，并可以减少多达50％的能耗。