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Simulation-based vibration analysis of an elastic legged chassis

Lösl, Christine (2021) Simulation-based vibration analysis of an elastic legged chassis. Master's, HM Hochschule München University of Applied Sciences.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/141143/
Document Type:Thesis (Master's)
Title:Simulation-based vibration analysis of an elastic legged chassis
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lösl, ChristineChristine.Loesl (at) dlr.deUNSPECIFIED
Date:14 January 2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:66
Status:Published
Keywords:wheeled legged rover, vibrational analysis,
Institution:HM Hochschule München University of Applied Sciences
Department:Faculty 06 Applied Natural Science and Mechatronics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Project MOREX [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Shu, Anton Leonhard
Deposited On:28 Apr 2021 14:32
Last Modified:07 May 2021 18:30

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