CN112706190A - Bionic foot type robot leg and foot load live simulation test method - Google Patents
Bionic foot type robot leg and foot load live simulation test method Download PDFInfo
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- CN112706190A CN112706190A CN202011366046.7A CN202011366046A CN112706190A CN 112706190 A CN112706190 A CN 112706190A CN 202011366046 A CN202011366046 A CN 202011366046A CN 112706190 A CN112706190 A CN 112706190A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses a bionic foot type robot leg and foot load condition simulation test method, which comprises the following steps: according to the leg and foot configuration of the bionic quadruped robot, performing three-dimensional modeling design on a bionic structure; guiding the three-dimensional model of the legs and feet of the quadruped robot into an FDM printing system for slicing treatment, and respectively printing the thighs and the shanks of the quadruped robot by adopting a high-performance composite material; connecting thighs and crus of the quadruped robot at joints through high-strength connecting pieces; mounting parts such as a high-strength connecting rod and the like on the upper leg and the lower leg of the quadruped robot to form a leg-foot integral assembly of the quadruped robot; the method is visual, simple, effective and quick, provides a set of simple, efficient and quick solution for the live simulation load bearing test of the legs and feet of the quadruped robot, greatly reduces the complexity, the test cost and the time cost of the leg and foot load bearing test of the quadruped robot, and greatly promotes the development of the quadruped robot with a bionic structure.
Description
Technical Field
The invention relates to the technical field of simulation test of leg-foot and trunk strength of a four-foot robot, in particular to a simulation test method for the live load bearing situation of legs and feet of a bionic foot type robot.
Background
The bionic foot type robot comprises a single-foot robot, a double-foot robot, a four-foot robot and a six-foot robot, wherein the four-foot robot is one of important branches, has inherent advantages compared with the moving modes of wheel type robots and crawler type robots, and has incomparable advantages in crossing obstacles and walking on complicated special pavements such as sand, marsh and the like. Therefore, a great deal of research has been conducted on quadruped robots, including research on the load-bearing capacity of the legs, feet and trunk of the quadruped robot.
The 3D printing is adopted to rapidly develop and manufacture the configuration with any shape, so that the structure with complex shape and curved surface which is difficult to manufacture by the traditional process technology such as the bionic structure has the inherent technical advantage, and the leg, foot and trunk structures of the bionic quadruped robot manufactured by the 3D printing technology are very suitable. However, in the aspect of testing the bearing conditions of legs, feet and a trunk of the quadruped robot under different postures, a plurality of corresponding simulation test platforms exist at present, and the test platforms are relatively complex, time-consuming and labor-consuming, and relatively high in test cost; the loading conditions of the legs, feet and trunk of the quadruped robot under different postures cannot be directly tested, and the degree of real live simulation cannot be achieved. According to the bionic foot type robot leg and foot load condition simulation test method, a common universal testing machine and a designed specific fixed base are used as clamps, so that the condition of the leg and foot load condition under the working condition of the abduction posture of the four-foot robot can be simulated in a real condition and directly obtained, and the method is visual, simple, effective and rapid.
Therefore, a simulation test method for simulating the leg and foot load condition of the bionic foot type robot is urgently needed to solve the defects.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the following technical scheme: a bionic foot type robot leg and foot load-bearing live simulation test method comprises the following steps:
step one, performing three-dimensional modeling design of a bionic structure according to the leg and foot configuration of the bionic quadruped robot;
step two, guiding the three-dimensional model of the legs and feet of the quadruped robot into an FDM printing system for slicing treatment, and respectively printing the thighs and the shanks of the quadruped robot by adopting a high-performance composite material;
thirdly, connecting thighs and shanks of the quadruped robot at joints through high-strength connecting pieces;
mounting parts such as a high-strength connecting rod and the like on the upper leg and the lower leg of the quadruped robot to form a leg and foot integral assembly of the quadruped robot;
designing a fixing base for mounting and fixing the whole leg and foot assembly of the quadruped robot according to the connection configuration of the thigh and the trunk of the quadruped robot, wherein the fixing base and the horizontal plane form a certain oblique angle so as to simulate the trunk of the quadruped robot and test under the abduction working condition;
sixthly, fixing the leg-foot integral assembly of the quadruped robot on a fixed base at a certain angle;
step seven, mounting and fixing the fixing machine base on which the leg and foot integral assembly is fixed on a test platform of the universal testing machine at a certain angle;
step eight, keeping the large and small legs and the ground to form a certain oblique angle, and ensuring that the leg-foot integral assembly simulates the bearing stress condition of the abduction posture of the quadruped robot;
step nine, keeping the big leg and the small leg to form a certain included angle, and simulating the swing condition of the big leg and the small leg when the quadruped robot walks;
step ten, adopting a universal testing machine to carry out vertical loading load test: firstly, slowly loading a load to a certain value, continuously loading for a period of time and then unloading the load; then instantly loads a certain value, namely immediately cancels the load;
and eleventh, finally, obtaining corresponding force and displacement curves and the stress damage condition of the whole leg and foot assembly through a universal testing machine, and analyzing results.
Preferably, the bionic structure in the step one is a leg and foot bionic structure of a cheetah or a beagle, and the three-dimensional modeling design software is SolidWorks software.
Preferably, the FDM printing system in step two is HAGE 175C, the slicing software is simlify 3D, and the high performance composite material is a "nylon + continuous carbon fiber" composite material.
Preferably, the high strength connector 316L stainless steel connector described in step three.
Preferably, in the fourth step, the high-strength connecting rod or other component is a 316L stainless steel component.
Preferably, the bevel angle in step five is 0-45 °, and the certain angle in step six is 0-45 °.
Preferably, the certain angle in the seventh step is 90 ° or is vertically installed and fixed.
Preferably, the oblique angle in the step eight is 0-45 °, and the included angle in the step nine is 66 °.
Preferably, the loading load mode in the step ten is a compressive strength test mode, the slowly loaded load is 0-500N, and the duration is 0-25S; the instantaneous loading load is 0-700N.
Preferably, the test method obtains the force and displacement curves of the four-footed robot under the walking development working condition and the stress damage condition of legs and feet.
Compared with the prior art, the invention has the following beneficial effects: the 3D printing is adopted to rapidly develop and manufacture the configuration with any shape, so that the structure with complex shape and curved surface which is difficult to manufacture by the traditional process technology such as the bionic structure has the inherent technical advantage, and the leg, foot and trunk structures of the bionic quadruped robot manufactured by the 3D printing technology are very suitable. However, for the test of the bearing conditions of the legs, the feet and the trunk of the quadruped robot under different postures, a simple, intuitive, quick and effective test method is relatively lacked at present. According to the bionic foot type robot leg and foot load condition simulation test method, a common universal testing machine and a designed specific fixed base are adopted as a clamp, so that the leg and foot load condition and the damage degree of a four-foot robot under the abduction attitude working condition can be really simulated and directly obtained in a real situation, the method is intuitive, simple, effective and quick, a set of simple, efficient and quick solution is provided for the four-foot robot leg and foot condition simulation load test, the complexity, the test cost and the time cost of the leg and foot load test of the four-foot robot are greatly reduced, and the development of the four-foot robot with a bionic structure is greatly promoted.
Drawings
FIG. 1 is a view of the overall assembly of the legs and feet of the quadruped robot of the present invention;
FIG. 2 is a structural view of a fixing base of the leg-foot integrated assembly of the quadruped robot of the present invention;
FIG. 3 is a schematic view showing the test condition of the fixing base of the leg and foot integrated assembly of the present invention mounted and fixed on a universal testing machine.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, a simulation test method for a leg and foot load condition of a bionic foot type robot, the simulation test method for a leg and foot load condition of a bionic foot type robot includes the following steps:
step one, performing three-dimensional modeling design of a bionic structure according to the leg and foot configuration of the bionic quadruped robot;
step two, guiding the three-dimensional model of the legs and feet of the quadruped robot into an FDM printing system for slicing treatment, and respectively printing the thighs and the shanks of the quadruped robot by adopting a high-performance composite material;
thirdly, connecting thighs and shanks of the quadruped robot at joints through high-strength connecting pieces;
mounting parts such as a high-strength connecting rod and the like on the upper leg and the lower leg of the quadruped robot to form a leg and foot integral assembly of the quadruped robot;
designing a fixing base for mounting and fixing the whole leg and foot assembly of the quadruped robot according to the connection configuration of the thigh and the trunk of the quadruped robot, wherein the fixing base and the horizontal plane form a certain oblique angle so as to simulate the trunk of the quadruped robot and test under the abduction working condition;
sixthly, fixing the leg-foot integral assembly of the quadruped robot on a fixed base at a certain angle;
step seven, mounting and fixing the fixing machine base on which the leg and foot integral assembly is fixed on a test platform of the universal testing machine at a certain angle;
step eight, keeping the large and small legs and the ground to form a certain oblique angle, and ensuring that the leg-foot integral assembly simulates the bearing stress condition of the abduction posture of the quadruped robot;
step nine, keeping the big leg and the small leg to form a certain included angle, and simulating the swing condition of the big leg and the small leg when the quadruped robot walks;
step ten, adopting a universal testing machine to carry out vertical loading load test: firstly, slowly loading a load to a certain value, continuously loading for a period of time and then unloading the load; then instantly loads a certain value, namely immediately cancels the load;
and eleventh, finally, obtaining corresponding force and displacement curves and the stress damage condition of the whole leg and foot assembly through a universal testing machine, and analyzing results.
The bionic structure in the step one is a leg and foot bionic structure of a cheetah or a beagle dog, and the three-dimensional modeling design software is SolidWorks software.
The FDM printing system in the step two is HAGE 175C, the slicing software is Simplify3D, and the high-performance composite material is a nylon and continuous carbon fiber composite material.
The high strength 316L stainless steel connector described in step three.
In the fourth step, the parts such as the high-strength connecting rod are 316L stainless steel parts.
The bevel angle in the fifth step is 0-45 degrees, and the certain angle in the sixth step is 0-45 degrees.
And the certain angle in the seventh step is 90 degrees or is vertically installed and fixed.
The oblique angle in the step eight is 0-45 degrees, and the included angle in the step nine is 66 degrees.
The loading load mode in the step ten is a compressive strength test mode, the slowly loaded load is 0-500N, and the duration is 0-25S; the instantaneous loading load is 0-700N.
The testing method obtains the force and displacement curves of the four-footed robot under the walking development working condition and the stress damage condition of legs and feet.
The 3D printing is adopted to rapidly develop and manufacture the configuration with any shape, so that the structure with complex shape and curved surface which is difficult to manufacture by the traditional process technology such as the bionic structure has the inherent technical advantage, and the leg, foot and trunk structures of the bionic quadruped robot manufactured by the 3D printing technology are very suitable. However, for the test of the bearing conditions of the legs, the feet and the trunk of the quadruped robot under different postures, a simple, intuitive, quick and effective test method is relatively lacked at present. According to the bionic foot type robot leg and foot load condition simulation test method, a common universal testing machine and a designed specific fixed base are adopted as a clamp, so that the leg and foot load condition and the damage degree of a four-foot robot under the abduction attitude working condition can be really simulated and directly obtained in a real situation, the method is intuitive, simple, effective and quick, a set of simple, efficient and quick solution is provided for the four-foot robot leg and foot condition simulation load test, the complexity, the test cost and the time cost of the leg and foot load test of the four-foot robot are greatly reduced, and the development of the four-foot robot with a bionic structure is greatly promoted.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A bionic foot type robot leg and foot load live simulation test method is characterized in that: the simulation test method comprises the following steps:
step one, performing three-dimensional modeling design of a bionic structure according to the leg and foot configuration of the bionic quadruped robot;
step two, guiding the three-dimensional model of the legs and feet of the quadruped robot into an FDM printing system for slicing treatment, and respectively printing the thighs and the shanks of the quadruped robot by adopting a high-performance composite material;
thirdly, connecting thighs and shanks of the quadruped robot at joints through high-strength connecting pieces;
mounting parts such as a high-strength connecting rod and the like on the upper leg and the lower leg of the quadruped robot to form a leg and foot integral assembly of the quadruped robot;
designing a fixing base for mounting and fixing the whole leg and foot assembly of the quadruped robot according to the connection configuration of the thigh and the trunk of the quadruped robot, wherein the fixing base and the horizontal plane form a certain oblique angle so as to simulate the trunk of the quadruped robot and test under the abduction working condition;
sixthly, fixing the leg-foot integral assembly of the quadruped robot on a fixed base at a certain angle;
step seven, mounting and fixing the fixing machine base on which the leg and foot integral assembly is fixed on a test platform of the universal testing machine at a certain angle;
step eight, keeping the large and small legs and the ground to form a certain oblique angle, and ensuring that the leg-foot integral assembly simulates the bearing stress condition of the abduction posture of the quadruped robot;
step nine, keeping the big leg and the small leg to form a certain included angle, and simulating the swing condition of the big leg and the small leg when the quadruped robot walks;
step ten, adopting a universal testing machine to carry out vertical loading load test: firstly, slowly loading a load to a certain value, continuously loading for a period of time and then unloading the load; then instantly loads a certain value, namely immediately cancels the load;
and eleventh, finally, obtaining corresponding force and displacement curves and the stress damage condition of the whole leg and foot assembly through a universal testing machine, and analyzing results.
2. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the bionic structure in the step one is a leg and foot bionic structure of a cheetah or a beagle dog, and the three-dimensional modeling design software is SolidWorks software.
3. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the FDM printing system in the step two is HAGE 175C, the slicing software is Simplify3D, and the high-performance composite material is a nylon and continuous carbon fiber composite material.
4. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the high strength 316L stainless steel connector described in step three.
5. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: in the fourth step, the parts such as the high-strength connecting rod are 316L stainless steel parts.
6. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the bevel angle in the fifth step is 0-45 degrees, and the certain angle in the sixth step is 0-45 degrees.
7. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: and the certain angle in the seventh step is 90 degrees or is vertically installed and fixed.
8. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the oblique angle in the step eight is 0-45 degrees, and the included angle in the step nine is 66 degrees.
9. The bionic foot type robot leg and foot load-bearing live simulation test method according to claim 1, characterized in that: the loading load mode in the step ten is a compressive strength test mode, the slowly loaded load is 0-500N, and the duration is 0-25S; the instantaneous loading load is 0-700N.
10. A test method according to any one of claims 1 to 9, wherein the force and displacement curves and the stress failure conditions of legs and feet of the four-legged robot under the walking development working condition are obtained.
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Application publication date: 20210427 |