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Finite Element Analysis Within Component Design Process of Hydraulic Quadruped Robot

[+] Author Affiliations
Mariapaola D’Imperio, Ferdinando Cannella, Claudio Semini, D. G. Caldwell

Istituto Italiano di Tecnologia, Genoa, Italy

Daniele Catelani

MSC.Software srl, Torino, Italy

Roberto Bernetti

Universita’ Politecnica delle Marche, Ancona, Italy

Paper No. DETC2014-35459, pp. V007T05A005; 10 pages
doi:10.1115/DETC2014-35459
From:
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 2nd Biennial International Conference on Dynamics for Design; 26th International Conference on Design Theory and Methodology
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4640-7
  • Copyright © 2014 by ASME

abstract

The lightweight constructions and components stiffness play an important role in mechanics and in particular in high performance robots. In this paper the Virtual Prototyping Design (VPD) approach for addressing the robot design to this goal is shown. The VPD is applied to three mechanical problems of Walking Hydraulic Robots (WHRs): the first one deals with the leg joint sensitivity analysis; the second one concerns a force sensor optimization while the third one presents the torso structural verification. In all the aforementioned studies the experimental tests and the fitting analyses for model validation were carried out reaching satisfactory results.

Copyright © 2014 by ASME

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