Dynamics Problem: Calculating the torque on the thighs and shanks

[gianalvarez]

Hi,
I have a machine design problem here. Actually, it's more of a dynamics problem. I designed a simple robot in Pro E (please refer to figure) and I have to manually solve for the torque experienced by the thigh connection (the joint that connects the thigh to the torso) as the thigh and the shank moves. I did a lot of methods but they don't seem to work. The torso is fixed so it serves as the datum. The angular positions of the thigh and the shanks are given. I have the mass and inertia properties (mass, moments of inertia, volume) of the materials involved as well as the geometrical properties (length, width, height, center of mass). The thigh and the shank have angular velocities and accelerations and they are assumed to be equal to zero initially. For this problem, we can consider the analysis of the right lower limb first. Please help me with this. Thanks a lot.

 

[Navin A S]

To solve this problem, you will need to use the equations of motion. These equations can be used to calculate the torques experienced by each joint. You will also need to calculate the forces and moments acting on each body in the system. In order to do this, you will need to use the inertia properties of each body as well as the geometrical properties. Additionally, you will need to define the inertia parameters in terms of the coordinates of the thigh connection, as this is the joint you are trying to solve for. Once these parameters have been defined, you will then be able to use the equations of motion to calculate the torques experienced by the thigh connection. This can be done by calculating the angular momentum of the system, and then using the equation of motion to solve for the torques at each joint. It may also be useful to consider the friction experienced by the joints, as this can affect the torque experienced by the thigh connection. You can use a friction model to account for this, or you can use Coulomb's law to calculate the coefficient of friction between the surfaces of the joint. Finally, it is important to note that the torques experienced by the thigh connection will change over time, due to the changing angular velocities and accelerations of the thigh and shank. Therefore, you will need to consider how these variables change over time in order to accurately calculate the torque experienced by the thigh connection.