Functional evaluation and operational adaptation of bipedal robotic platform

摘要

Objectives: To perform a structural analysis on the design of theSIROBI3 robotic platform that matches the mechanical strengths oneach of its parts for di erents materials in order to make design ad-justments and de ne manufacturing characteristics. Methods: Theprototype performance is evaluated from its model in SolidWorks Mo-tion and SolidWorks Simulation, for three di erent materials, analyzingphysical and morphological behavior, under static conditions. We usemechanical performance in terms of torque requirements and total massof the structure as a criterion for the selection of construction materi-als. Findings: The nal result, i.e., the performance of the prototypewith the optimum material, showed a signi cant reduction of the massand weight of the robot, thus obtaining the reduction of e orts of theactuators and servomotors. In addition, the speed and mobility of theplatform was increased. Novelty: The use of computer models to sim-ulate the behavior of the robot under real operating conditions.