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arXiv 2606.22073cs.RO
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具有弹簧离合器腿的能量回收无辐轮的动力性、稳定性和能效

Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs

Department of Mechanical Engineering and Robotics, Guangdong Technion-Israel Institute of Technology（广东以色列理工学院机械工程与机器人系）；Faculty of Mechanical Engineering, Technion-Israel Institute of Technology（以色列理工学院机械工程学院）；Department of Applied Electronics, Faculty of Advanced Engineering, Tokyo University of Science（东京理科大学先进工学部应用电子系）

Tongchen Lin, Yanqiu Zheng, Chuhan Zhang, Ruigang Chen, Yizhar Or, Mingyi Liu

备注：
14 pages, 14 figures. Equal contribution: Tongchen Lin and Yanqiu Zheng. Corresponding author: Mingyi Liu (mingyi.liu@gtiit.edu.cn)
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AI总结：

提出一种带弹簧离合器腿的能量回收无辐轮，通过锁止离合器存储足地碰撞弹性能并在下一周期释放，仿真显示运输成本比基准粘弹性腿模型降低16.13%，原型在1°斜坡上实现被动行走。

摘要：

本文提出了一种具有弹簧离合器腿的能量回收无辐轮。所提出的机构使用可锁止离合器来存储足地接触后部分冲击引起的弹性势能，并在下一个步态周期中重新注入。首先，我们建立了能量回收无辐轮的混合动力学模型。其次，通过数值模拟研究了该机构的动力学、周期步态的局部稳定性以及运输成本（CoT）。仿真结果表明，与具有伸缩弹簧阻尼器腿的基准粘弹性腿无辐轮相比，所提出的机构将CoT降低了高达16.13%。与刚性无辐轮相比，粘弹性腿和能量回收模型将CoT降低了50%以上。能量回收模型在测试的坡度和刚度范围内也保持了局部稳定的周期步态。最后，在斜面上进行了原型实验，以检验所提出机构的可行性。实验结果表明，所提出的无辐轮在1°的浅坡上实现了被动行走，对应的CoT约为0.02。这些结果表明，所提出的弹簧离合器机构可以提高能量回收无辐轮的模拟行走效率，而原型实验支持该机构实现被动行走的可行性。

英文摘要：

This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a lockable clutch to store part of the impact-induced elastic energy after foot contact and reinject it in the next gait cycle. First, we develop a hybrid dynamic model of the energy-recycling rimless wheel. Second, numerical simulations are used to examine the dynamics, local stability of periodic gaits, and the Cost of Transport (CoT) of the proposed mechanism. The simulation results show that the proposed mechanism reduces the CoT by up to 16.13% compared with a benchmark viscoelastic-legged rimless wheel with telescopic spring-damper legs. Compared with the rigid rimless wheel, the viscoelastic-legged and energy-recycling models reduce the CoT by more than 50%. The energy-recycling model also maintains locally stable periodic gaits over the tested slope and stiffness ranges. Finally, prototype experiments on an inclined plane are conducted to examine the feasibility of the proposed mechanism. The experimental results show that the proposed rimless wheel achieves passive walking on a shallow 1° slope, corresponding to a CoT of approximately 0.02. These results suggest that the proposed spring-clutch mechanism can improve the simulated walking efficiency of the energy-recycling rimless wheel, while the prototype experiments support the feasibility of passive walking with the mechanism.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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