Title: The structural design, simulation analysis and parameter optimisation of the cheetah robot's leg components

Authors: Qingsheng Luo; Jianfeng Gao; Chenyang Zhou; Yansong Huang

Addresses: School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China ' School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China ' School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China ' School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China

Abstract: The design and analysis of the cheetah robot's leg is directly associated with the bionic shape, bionic structure, bionic function and the bionic materials, even the bionic control. Adopting the essences of the cheetah skeleton system, we finish the design, the simulation and the optimisation of the bionic cheetah leg. After the strength, stiffness, stability, reliability and the durability are ensured, the basic shape and size are constructed according to the properties of functions and connections. After applying load, a finite element analysis (FEA) is carried out. According to the results of FEA, the design is well optimised. The methods described herein combines the advantages of CAD and CAE technology, which can significantly enhance not only the accuracy, rationality and speed during the design of the bionic cheetah robot's leg, but also the level of optimisation of biomimetic robots.

Keywords: bionic robots; CAD; CAE; finite element analysis; FEA; parameter optimisation; robot legs; robot design; simulation; leg components; strength; stiffness; stability; reliability; durability; cheetah robots; biomimetic robots; biomimetics; legged robots; robot locomotion; mobile robots.

DOI: 10.1504/IJCVR.2015.067150

International Journal of Computational Vision and Robotics, 2015 Vol.5 No.1, pp.23 - 36

Received: 22 Jul 2013
Accepted: 30 Jan 2014
Published online: 31 Mar 2015 *

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