Simulation-based vibration analysis of an elastic legged chassis

Kurzfassung

The TRP is a leg based carrier rover, which is designed with the aim to reliably transport variable equipment in rough and cluttered terrain. The four legs of TRP own an advanced suspension system, which supports locomotion on rough ground. For agile locomotion one leg is built of three links and a wheel, enabling TRP to move by driving and walking. The development of the leg based robot platform for locomotion in rough terrain requires knowledge of the vibration behavior of single legs. These legs are equipped with differential elastic actuators and belt drives. In this work the passive leg is analyzed with linear oscillation analysis of defined poses using simulation. Therefore, nonlinear models of the elastic rover leg are developed. These represent TRP leg in driving performance and floating TRP leg in walking procedure as an open chain model. Then the eigenbehavior of both models is investigated using the eigenvalues of the predefined configuration space and the natural eigenvectors of example configurations. With defined criteria for vibration behavior the eigenbehavior and forced response are evaluated on the configuration space of both models walking and driving. Operating adverse and favorable configurations are identified and design recommendations are derived from the findings.