9.1.

Leg force analysis by Kinematics

Due to the number of unknowns the analysis of each of the robot legs has to be
broken into separate sections in order to be able to calculate these unknowns,
this is known as the method of sections, which is widely used in structural
analysis.
The calculations will be performed for leg 2, which as its illustrated in Figure 59
withstands the greatest ground reactions, varying alpha2, beta2 and gamma2.
The following figure will illustrate the first cut section that will be calculated.

Figure 59 First section analysis

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In Figure 59, we have reduced the number of equations and unknowns to

three unknowns and three equations, with these we can begin to calculate the
first reaction forces.
The three equations involved are the summation of forces in x and z directions
and taking moments about point 0, which is located where Rx and Rz are
acting. As this is a hinge we have only two forces acting in these directions.
The forces acting in the first section analysis are:

 Fz  Rz  R2  mgL2  F 2  cos (angF 2)  mga

 Fx  Rx  F 2  sin (angF 2)
M  M 0  R2  xR2dis tan ce  mgL2  xmgL2dis tan ce  F 2  cos (angF 2)  xF 2dis tan ce
 F 2  sin(angF 2)  zF 2dis tan ce

1 0 sin (angF 2)   Rx   0 

0 1    Rz    mgL2  R2  mga 
cos(angF 2)
     
0 0 sin(angF 2)  cos(angF 2)  F 2 mgL2  xmgL2dis tan ce  R2  xR2dis tan ce  M 0




Equation 6

This will be the first matrix for the first section cut involving R X, RZ, and F2
unknowns
We can continue with the second section cut, with the value of the reactions in
the hinge we start solving for the next unknowns shown which can also be
reduced to three equations and three unknowns that can easily be solved.

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 SIMULATION OF A WALKING ROBOT

Rz
F1
M1

angF1 Lh1
mga

R1z Rx
M2

R1x mgL1

Lh 0
F2
angF2 M1= moment produced by weight
mga of actuator1
mga M2= moment produced by weight
mga of actuator1
F1= Force that actuator1 withstands.
F2= Force that actuator2 withstands
calculated in first section cut
Lh=Distance between attachments

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Fz  R1z  mgL1  F1 sin  (angF1)  F2  cos (angF2)

Fx  Rx  Rx1  F1 cos (angF1)  F2  sin  (angF2)
M   mgL2  L1/ 2  cos ()  F1 cos (angF2)  L1 sin  ()
 F1 sin  (angF1)  L1 cos ()  Rz  L1 cos ()  Rx  L1 sin  ()  F2  sin  (angF2)  LH

 
 
 
 
1 0 cos (angF1)  Rx   Rx  F2  sin  (angF2) 

mgL1  Rz  F2  cos (angF2) 
0    Rz    
1 sin  (angF1)
   
0 0 cos (angF2)  L1 sin  ()  F1 sin  (angF1)  L1 cos ()  F1   mgL2  L1/ 2  cos ()... 
 
  Rz  L1 cos ().... 
  Rx  L1 sin  ()... 

Equation 7

This gives the second matrix for the second section cutof the leg involving the
unknows RX, RZ, and F1, once we solve this we can find R1Z and R1X.

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The third section cut is shown in Figure 61,

Rx2 Rz2

Xdist
Zdist

F1

AngF1

Rz1

Rx1
Zdist1
Rx3
Rz3

Xdist1

Figure 61 Third section analysis

As the vertical bar is attached to bearings we can assume that is simply supported
for this reason it withstands the forces shown, due to the resultant number of
unknowns and equations it has to be reduced to the following easily solved cases.
Each of the acting forces can be reduced to a force and a moment acting at the
ends of the vertical bar. The moment force appears because the attachments are
displaced in the xdirection.

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We can sinplify the solution by adding the following two cases:

P1 M1
P1 P2 Rc1
Rc2
+

Ra1 Rb1 Ra2 Rb2

Figure 62 Reduction to known cases

This is a known case for a cantilever beam which we can solve.

0 P2 M2 Ra= P2 / L*(L-a)
a Rb=P2 * a/L
Rc
P1 Rc=-P1

Reactions due to M
Ra2= M / L
Ra Rb Rb2= -Ra2
L

P2 is our F1 force, which we have solved before:

For P2= F1*sin(A) @ a=0:

Ra1= F1*sin(A)
Equation 8

Rb1= 0
Equation 9

Ra2= (-­­ F1*cos(A)*xdist)/ L3

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Equation 10

Rb2= -­­Ra2
Equation 11

For P1= F1*cos(A):

Rc1= -F1*cos(A)

Equation 12

For P2=Rx1 @ a=l:

Ra2=0

Equation 13

Rb2=Rx1

Equation 14

Ra3=(- Rx1*xdist1)/ L3

Equation 15

Rb3=-Ra2

Equation 16

For P1=Rz1

Rc2= -Rz1

Equation 17

By adding the following forces we can find the reaction forces in the vertical bar:
Rz2= Rc1+Rc2

Equation 18

Rz3= Rc1+Rc2

Equation 19

Rx1= Ra1+Ra2+Ra3

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Equation 20

Rx2= Rb1+Rb2+Rb3

Equation 21

Now we have all the unknowns solved and we can calculate in Matlab the
resulting reactions and forces that the robot has to withstand, this will help in
the material selection and the width of the legs.

9.1.1. Section1 Results

In this section it will be shown the results obtained in Matlab for the equations
presented before, this is the force that the lower part of the leg, section 1
withstands.

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 SIMULATION OF A WALKING ROBOT

Figure 63 Section 1 Forces Results

As F2 elongates the reaction in the hinge RX and RZ increases. The maximum

force in the linear actuator chosen for a 200 mm stroke is 1500 N, we should have
that in consideration.

Figure 64 Section 1 Ground Reactions

As we vary the alpha and beta anlges we can see how the ground reaction
increases. The min and max configuration were the leg is close to the robot and
far away configurations give the maximum reaction forces. I use this values to
find the minimum and maximum combination of alpha, beta and gamma angle
that the robot can achieve.

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A reaction force higher than 500 N and depending on this limit configurations give
a high F2 values, as we have mentioned before the force in F1 and F2 which are
the actuators selected can not reach more than 1500 N

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9.1.2. Section 2 Results

This is section 2 analysis, as I recall we must vary our angles but care should be
taken in not reaching more than 1500 N in our motors, which is their maximum
operating force limit.

Rz
F1
M1

angF1 Lh1
mga

R1z Rx
M2

R1x mgL1

Lh 0
F2
angF2 M1= moment produced by weight
mga of actuator1
mga M2= moment produced by weight
mga of actuator1
F1= Force that actuator1 withstands.
F2= Force that actuator2 withstands
calculated in first section cut

Figure 65 Section 2 Forces Results

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The angles for alpha, beta and gamma chosen seem to be within the desired
values, analysing the forces and reactions obtained. Also the hinge in R1Z and
R1X has a 5000 N bearing.

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9.1.3. Section 3 Results

What should be taken into account for the analysis of this section cut is the
selection of the bearing at both sides. This is an important part of the design as
it has to withstand the maximum loads due to all the configurations that the
robot is going to achieve. Two bronze bushings were selected of 5000 N in X
and Z direction. This limit has to be also kept in mind as we vary our angles for
different leg configuration.

Rx2 Rz2

Xdist
Zdist

F1

AngF1

Rz1

Rx1
Zdist1
Rx3
Rz3

Xdist1

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Figure 66 Section 3 Bearing Reactions

From the results obtained it can be seen that we never encounter the maximum
of 5000 N in the bushings.

9.2. Leg Analysis by Nastran



A validation of the structure was performed using Finite Elements Method; the
program used in this case was NASTRAN as solver and Patran as Pre and
Post processor.

Using the results obtained from the Kinematics analysis, the structure of the robot
was analysed based on the forces and reactions obtained. The structure was
forced to withstand the reactions obtained for each leg.

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Figure 67 Robot Finite Element Model.

For the analysis it was selected one of the worst leg configurations, in terms of
reactions, the configuration was the robot standing in three legs with the
maximum gamma angle for the three of them.

The model was performed using bar elements for the structure and the legs and
plate elements were used for the structure panels.

64 Nodes and 96 elements form the model. There are 58 bar elements used on
the robot structure and legs, 32 Quad4 elements used for the structure panels
and 6 MPC to simulate the actuators.

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Figure 68 Robot Bar and MPC elements.

The material used for the elements is aluminum

Figure 69 FEM material data.

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The Figure 70 shows the results obtained for the static analysis.

Figure 70 Finite Element Validation

From the results obtained it was confirmed that for the maximum reaction on the
three legs supporting the weight, that the selected materials and dimensions are
withstanding their stresses and strains within their safety limits.

For the worst three legged configuration with a maximum rowing angle in each
leg we can see how the maximum reaction force is 418N. This complies with the
results found in 9.2

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9.3. Leg force analysis by Dynamics

The set of calcultations and results which will be presented in this chapter is to
verify our hexapod design behaviour by dynamic analysis.

The configuration which have three independent DC motor actuators in each leg,
with a walking motion that can be performed as follows: the robot can stand in
three legs in a triangular configuration meanwhile the other three legs are in the
air. To obtain the normal translation movement, the three legs on the floor can
perform a rowing motion forward and when they reached the maximum motion,
the legs in the air can come down and the same procedure will follow. With these
movements we can avoid having the 18 actuators acting at the same time.

As we can see in Figure 71, each of the legs has three independent degrees of
freedom, being controlled two of them by the linear actuators controls and the
other by a DC gear motor.

Figure 71 Composition of the prototype design.

Below is a detailed sketch of the leg and the minimum and maximum positions of
all the actuators involved. The maximum angles and positions that it can move
on will depend on collisions, large force or moments acting and unstable
positions. We have studied this conflicts in our previous kinematic analysis

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OF A
WALKING
ROBOT

evaluating the maximum angles that the legs can

have due to the resulting maximum forces which
limits the sizing of the actuators.

Figure 72 Movement of three actuators per leg.