肢腿履带足机构抬腿工况动力学分析与实验研究

赵富强,杜特,常宝玉,牛志刚

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

Fu-qiang ZHAO,Te DU,Bao-yu CHANG,Zhi-gang NIU

表4 抬起工况下单肢腿系统各测点处最大应力比较

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

部件 测点 应力模拟值/MPa 应力测试值/MPa 相对误差/% 左侧 右侧 左侧 右侧 左侧 右侧 上肢腿 1# 15.57 23.22 14.07 23.10 10.66 0.52 3# 20.23 24.34 17.80 21.42 13.65 13.63 4# 25.13 32.20 24.29 30.07 3.46 7.08 5# 43.41 56.84 38.78 56.74 11.94 0.18 下肢腿 6# 7.33 9.16 6.70 7.80 9.40 17.44 7# 7.72 9.34 7.21 9.25 7.07 0.97 10# 4.54 4.19 3.90 3.90 16.41 7.43