Dynamic analysis and lightweight design of driving robot mechanical leg
In order to shorten the time required for vehicle-related performance testing and improve test accuracy,a compact and lightweight mechanical leg for a driving robot has been proposed.First,the structural design of the mechanical leg was completed to meet the requirements of the vehicle pedal stepping motion,and a kinematic model was established.The impact of structural dimensions on the motion characteristics of the mechanical leg was analyzed based on the kinematic model.Secondly,a dynamic model was established using the Lagrange equations to simulate the pedaling motion of the mechanical leg.The established kinematic and dynamic models were validated using the ADAMS simulation platform.Based on the theoretical data from the dynamic model,with the optimization goal of reducing the mass of the mechanical leg,an analysis of stress and strain in the mechanical thigh components was conducted,and the stress and strain under different lightweighting schemes were calculated to select the optimal lightweighting scheme.The results indicate that the design of the driving robot's mechanical leg mechanism is reasonably compact,with stable and reliable motion.The overall mass of the bone-rod lightweighting scheme decreases by 0.484 kg,a reduction of 33.9%.
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