Comparison of Mechanical Design and Flow Analysis of Quadruped Robots

Abstract

In recent years, there has been a trend of developing innovative technologies inspired by living creatures in nature. Quadruped robots, in particular, have emerged as walking mobile systems with articulated leg structures that can skilfully perform dynamic movements that wheeled systems are limited to. These robots offer advantages in technical criteria such as manoeuvrability, cross-capability, controllability, terrain adaptability and stability. It is important to note that this evaluation is based on objective technical criteria rather than subjective opinions. This study compares the advantages and disadvantages of quadruped robots to wheeled systems. It highlights that quadruped robots outperform wheeled systems in manoeuvrability, obstacle overcoming, and speed, particularly in rough terrains. The study also suggests that designers of quadruped robots should consider aerodynamic factors, which are often overlooked. Flow analysis using the finite element method is crucial in robot design to enhance aerodynamic performance. This paper aims to comprehensively analyse the flow structure around quadruped robots using Computational Fluid Dynamics and investigate passive flow control methods to reduce the drag coefficient (Cd). The study examines four different robots, and the resulting Cd average percentage calculations are presented. The aerodynamic efficiency of Robot 4 compared to Robot 2 was found to be 95%. Similarly, the aerodynamic efficiency of Robot 3 was determined to be 28% compared to Robot 2. Additionally, it was determined that the aerodynamic efficiency of Robot 2 was 76% compared to Robot 1. These results provide an important comparison to understand the energy efficiency, differences in aerodynamic performance and relative effectiveness of quadruped robots.