Dynamics analysis and experimental research on leg lifting condition of limb-leg crawler foot mechanism

doi:10.3785/j.issn.1006-754X.2022.00.059

Chin J Eng Design

2022, Vol. 29

Issue (4): 474-483 DOI: 10.3785/j.issn.1006-754X.2022.00.059

Modeling, Simulation, Analysis and Decision

Dynamics analysis and experimental research on leg lifting condition of limb-leg crawler foot mechanism

Fu-qiang ZHAO^1,²(

),Te DU¹,Bao-yu CHANG¹,Zhi-gang NIU²

^1.Heavy Machinery Engineering Research Center of the Ministry of Education, Taiyuan University of Science and Technology, Taiyuan 030024, China
^2.Institute of Polar Engineering and Equipment, Taiyuan University of Technology, Taiyuan 030024, China

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Abstract

In order to verify the structural strength of limb-leg systems of the limb-leg crawler foot mechanism, taking the single limb-leg system as the research object, the dynamics model of its lifting condition was established based on the Lagrange method, and the expressions of driving torque of its upper and lower limb joints were derived and verified. At the same time, through the dynamics simulation of single leg lifting condition of the limb-leg crawler foot mechanism, the time-domain variation law of the force on each hinge point of its supporting leg and lifting leg was revealed, and the strength of the lifting leg with large force was simulated by finite element method and verified by experiment. The results showed that, under the single leg lifting condition of the limb-leg crawler foot mechanism, the maximum stress of the upper limb of the lifting leg was 165.9 MPa, with a safety factor of 3.04, and the maximum stress of the lower limb was 122.9 MPa, with a safety factor of 2.81, which met the strength requirements during the lifting process of a single leg; the relative error between the simulated value and the test value of the maximum stress at each hinge point of the lifting leg was within 18%. The research results verify the correctness of the dynamics analysis method for the leg lifting condition of the limb-leg crawler foot mechanism and the safety and rationality of its structure, which can provide a reference for the design and application of other limb-leg mechanism.

Key words： limb-leg crawler foot mechanism Lagrange method leg lifting condition dynamics modeling experimental verification

Received: 22 November 2021 Published: 05 September 2022

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Cite this article:

Fu-qiang ZHAO,Te DU,Bao-yu CHANG,Zhi-gang NIU. Dynamics analysis and experimental research on leg lifting condition of limb-leg crawler foot mechanism. Chin J Eng Design, 2022, 29(4): 474-483.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.059 OR https://www.zjujournals.com/gcsjxb/Y2022/V29/I4/474

肢腿履带足机构抬腿工况动力学分析与实验研究

为验证肢腿履带足机构肢腿系统的结构强度，以单肢腿系统为研究对象，基于拉格朗日法建立其抬起工况的动力学模型，推导了其上、下肢腿关节驱动力矩的表达式并予以验证。同时，通过对肢腿履带足机构单腿抬起工况进行动力学仿真，揭示了其支撑腿、抬起腿各铰接点所受力的时域变化规律，并对受力最大的抬起腿的强度进行了有限元模拟与实验验证。结果表明：在肢腿履带足机构单腿抬起工况下，其抬起腿上肢腿的最大应力为165.9 MPa，安全系数为3.04，下肢腿的最大应力为122.9 MPa，安全系数为2.81，均满足单腿抬起过程中的强度要求；抬起腿各铰接点处最大应力的模拟值与测试值的相对误差均在18%以内。研究结果验证了肢腿履带足机构抬腿工况动力学分析方法的正确性以及其结构的安全性和合理性，可为其他肢腿型机构的设计及应用提供参考。

关键词： 肢腿履带足机构, 拉格朗日法, 抬腿工况, 动力学建模, 实验验证

Fig.1 Overall structure of limb-leg crawler foot mechanism

Fig.2 Centroid position of limb-leg crawler foot mechanism under single leg lifting condition (x direction)

Fig.3 Lifting process of leg c and its position and posture changes

Fig.4 Dynamics model of single limb-leg system under lifting condition

Table 1 Comparison of driving torque at the hinge points I and M of single limb-leg system

Fig.5 Dynamics simulation model of single leg lifting condition of limb-leg crawler foot mechanism

Table 2 Driving function of electric push rod of leg c

Table 3 Constraint parameters of dynamics simulation model of single leg lifting condition of limb-leg crawler foot mechanism

Fig.6 Variation curve of acceleration of leg c crawler foot centroid with time

Fig.7 Variation curve of force at hinge point Q of each support leg with time

Fig.8 Force at each hinge point of leg c

Fig.9 Force at each hinge point of leg d

Fig.10 Nephogram of maximum stress and maximum strain of upper limb of leg c under lifing condition

Fig.11 Nephogram of maximum stress and maximum strain of lower limb of leg c under lifing condition

Fig.12 Stress test site of single limb-leg system

Fig.13 Stress test curve of single limb-leg system under lifting condition

Table 4 Comparison of maximum stress at each measuring point of single limb-leg system under lifting condition


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