contact person: Prof. Dr. Frank Kirchner
In the LegLab, the technical development of the legs of walking robots is scientifically evaluated. In order to qualify the components, continuous stress tests, peak load texts, and movement tests are carried out. In addition, the installation is used to test and optimize prototypes of new leg designs for running, climbing, and walking robots. The resulting data such as angle positions of the joints, electric current consumed, speed of the treadmill, possible deflection of dynamic components, etc., are logged by the operator PC.
With the aid of a high-speed-camera and a continuous visual signal from the starting point of the logging, the camera image may then be assigned accurately to the measured data in order to achieve an optimal evaluation of the data.
The moving walkway is over all 308 cm long. The available surface is about 150 cm long and about 50 cm wide. The velocity is continuously variable and reaches speed from 0,14 m/s to 0,97 m/s. The regulation of the velocity and also the data transfer is realized with an Atmel microcontroller. It has USB-port, various electronic modules and a Sick perambulator-encoder.
The testing facility has an overall height of 160 cm and a width of 154 cm. The moving walkway is located in a height of 80 cm. The linear actuator in the middle of the picture is 114 cm long and weighs about 7 kg. It can carry a maximum weight of 1375 kg and the top speed is 5 m/s. The position of the actuator is logged with a line potentiometer and can be regulated exactly.
The velocity and direction of the moving walkway can be set via a user-friendly interface, the height of the linear actuator as well. Hence it is very easy to adapt the testing set-up to various leg-forms and –size to perform a wide variety of performance tests.