Abstract
According to the requirements of light weight, low-energy and short development period under the conditions that leg mobile robots exert high movement adaptability, high speed and high load capacity, integrated simulation and structure optimization of rigid-flexible coupling mechanical leg are proposed based on PATRAN, NASTRAN and ADAMS. Firstly, .bdf file is obtained via PATRAN. Secondly, MNF is acquired via NASTRAN. Thirdly, the rigid-flexible coupling mechanical leg is established, the motion of mechanical leg based on the trajectory planning is implemented, and integrated simulation is completed via ADAMS. Finally, Structure optimization is processed step-by-step and completed whenever intermediate structure meets the stress and strain requirements. The example is presented that illustrates advantages of the proposed method.
Published Version
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