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Development of an rolling contact knee for ANYmal
The goal of this project is to design and manufacture a bio-inspired knee joint that will be used on ANYmal. The final goal is to reduce the weight and improve the performance of the current joint.
Ball bearings are the standard components for transmitting forces through robotic joints. While being a robust and readily available solution, it is immediate to notice how much they differ from biological structures. The main differences are the absence of a fixed axe of rotation and a non-symmetrical behaviour.
In this project, we seek to develop a bioinspired rolling contact knee joint that will be integrated on ANYmal.
The knee should take advantage of the rolling joint properties to reduce the leg weight and volume. The mechanical structure should be strong enough to support ANYmal during is high dynamic maneuvers.
Ball bearings are the standard components for transmitting forces through robotic joints. While being a robust and readily available solution, it is immediate to notice how much they differ from biological structures. The main differences are the absence of a fixed axe of rotation and a non-symmetrical behaviour. In this project, we seek to develop a bioinspired rolling contact knee joint that will be integrated on ANYmal. The knee should take advantage of the rolling joint properties to reduce the leg weight and volume. The mechanical structure should be strong enough to support ANYmal during is high dynamic maneuvers.
- Problem Analysis and Requirements definition
- Literature study on rolling contact joints and
- Conceptual design
- Detailed design of the joint, bearing surfaces, ligaments and transmission
- System integration and optimization
- Manufacturing and test of the prototype
- Problem Analysis and Requirements definition - Literature study on rolling contact joints and - Conceptual design - Detailed design of the joint, bearing surfaces, ligaments and transmission - System integration and optimization - Manufacturing and test of the prototype
- High motivation and interest in the topic
- Able to work independently and be creative
- Methodological and goal-oriented working behavior
- Good mechanical design and problem-solving skills
- Previous experience with CAD system (Siemens Nx, Solidworks, etc)
- Interdisciplinary skills (Hardware, Physics, Materials, Geometry)
- High motivation and interest in the topic - Able to work independently and be creative - Methodological and goal-oriented working behavior - Good mechanical design and problem-solving skills - Previous experience with CAD system (Siemens Nx, Solidworks, etc) - Interdisciplinary skills (Hardware, Physics, Materials, Geometry)
Please contact Giorgio Valsecchi giorgio.valsecchi@mavt.ethz.ch for any questions. Your application should include a brief motivational statement, your transcript of records and your CV. A portfolio showcasing your skills and personal contributions to previous projects would be appreciated.
Please contact Giorgio Valsecchi giorgio.valsecchi@mavt.ethz.ch for any questions. Your application should include a brief motivational statement, your transcript of records and your CV. A portfolio showcasing your skills and personal contributions to previous projects would be appreciated.