Proposed solution for torque calculation. Please Check.
Hi!
I have a proposed solution but I'm not sure if it's right. I first did an analysis with the shank/lower leg given the angular velocity and acceleration of the shank at a certain time. I can draw free body diagrams from where I can generate the free body equations according to Newton's 2nd Law (please refer to the figures I've provided). From there, I can compute for the reactions at the knee joint by summing the forces along x and along y. I can now use these reactions to get the torque about the hip joint.
You see that I isolated the shank first assuming that the knee joint is fixed. Did I made the right assumption?
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2FBiped.jpg&hash=1d665f1cb8b782f93f6db96b60ae037a)
Bipedal Robot Design
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0003.jpg&hash=4a452d40f0bb545d8b4d23f0abc8ba35)
Robot Leg
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0013.jpg&hash=79f790a39c590b19088be83339f0ece9)
Shank Free Body diagram
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0014.jpg&hash=68d670e69ccc8e9f51a2eb6164ac4f92)
Thigh Free Body Diagram
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0015.jpg&hash=957cca05521f8911fe05af793a862bfb)
Equation for Angular Acceleration
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0016.jpg&hash=dc16c1261f5f6067fa1376a9ecc18eb8)
Solving for Ax
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0017.jpg&hash=38df078c94e8e9c1188731a3214c31ba)
Solving for Ay
![[IMG]](proxy.php?image=http%3A%2F%2Fi17.photobucket.com%2Falbums%2Fb98%2Fgianalvarez%2Fscan0018.jpg&hash=e2684f706c76fc491f4036e50bc4933e)
Solving for the torque
I have a proposed solution but I'm not sure if it's right. I first did an analysis with the shank/lower leg given the angular velocity and acceleration of the shank at a certain time. I can draw free body diagrams from where I can generate the free body equations according to Newton's 2nd Law (please refer to the figures I've provided). From there, I can compute for the reactions at the knee joint by summing the forces along x and along y. I can now use these reactions to get the torque about the hip joint.
You see that I isolated the shank first assuming that the knee joint is fixed. Did I made the right assumption?
Bipedal Robot DesignRobot LegShank Free Body diagramThigh Free Body DiagramEquation for Angular AccelerationSolving for AxSolving for AySolving for the torque
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