Automatic and Incremental Torque Assisting Method based on Elasticity and Inertia

Motors have a torque limit, which is dependent on their output performance, but by integrating elasticity and inertia, it is possible to exceed the original output performance of the motor. In this paper, we propose a method of automatic and gradually increasing torque assistance based on elasticity and inertia. Also, we verify the effectiveness of the proposed method by experiments using actual machines in the two cases of overstepping by the bogie and kicking out by the link legs. As a result, when the load stopped due to insufficient torque from the motor, the inertia continued to rotate and spring torque was automatically generated, causing the load to move again over time.