Theoretical estimation of the required power of the robot-android drives when walking at different speeds

A mathematical model for analyzing the power, consumed by the robot-android drives in rectilinear motion with a uniformly increasing speed, is considered. The mathematical model is compiled using the methods of multibody systems dynamics. Solving problems using the model is performed by numerical integration methods. The time dependences of the rotation angles drives and their angular velocities have been constructed. The dependences of the moments in drives in an unsteady mode of motion with increasing speed were also obtained. The drives with maximum energy consumption have been identified. It is shown, that the required power in the drives in-creases significantly with increasing speed of the robot. The nature of the power consumption in the drives has a pulsed form, with sections of positive and negative power, which indicates the possibility of significantly reducing energy consumption in the drives due to recuperation. The peak power in the most loaded lower limb drives can reach 0.7 kW. The total algebraic sum of power consumption in all drives is also approximately 0.7 kW. In this case, the total power absolute value of all drives reaches 2 kW. The maximum values of power consumption occur at high speeds – up to 0.9 m/s. At speeds up to 0.2 m/s, the total power does not exceed 150 – 200 W.