Modular unit design and energy consumption characterization analysis of a novel cantilever robot

This paper presents a robotic structure that combines modular design with low energy consumption and a large workspace, suitable for both mobile and fixed platforms. It primarily consists of pitch joint modules and yaw joint modules. The yaw joint module employs a novel single-motor dual-axis configuration design, which effectively increases the yaw range and expands the robot's workspace compared to traditional yaw joint structures. The pitch joint module is designed based on a parallelogram structure and is diagonally driven by an electric cylinder. By incorporating a spring installed in parallel with the electric cylinder, a Parallel Elastic Actuator is formed, achieving the goal of low energy consumption. Comparative analysis demonstrates that the proposed robot has certain advantages in terms of workspace and energy consumption for the pitch joint module. A robot prototype was constructed and tested, and the results indicate that the robot can successfully complete target grasping tasks, the yaw joint can achieve large-angle yaw movements, and the energy consumption of the new pitch joint module is reduced by 47.02%.