Keegan Nazari

Product Design of Leg

Problem Statement: Determine the Von Mises stress in leg and determine if
the leg can withhold the weight of the robot.
Assumptions:
1. Leg is a cylinder of uniform diameter, but with same volume as
original part.
2. Weight of robot is distributed evenly among the four legs.

FBD:

Solution:
Vcyl = 0.11 in3

Taken from Solidworks part file

To simplify solution, assume the leg is a cylinder of uniform diameter with

same volume as original part.
Find length of cylinder at a -100 angle from the positive x-axis:
cos ( 10)=

2.00
h

h=2.031

Using

as the length of cylinder, find the radius for simplified part:

V cyl =r h
0.11=r 22.031
r=0.1313

d=2r=20.1313=0.2626

or

For standard cylinder shaft, we will use 0.25 diameter, since the next
standard size up is 5/16 or 0.3125. Taking from Andreas leg shaft analysis,
the reaction force on each leg is:
R A =RB =0.197<^y >lbs
Find

Fx ,

Fy ,

Mx ,

My ,

x ,

y , and

y=2.00
x=2sin ( 10 )=0.347
F x =Fsin ( 10)
F x =0.197sin ( 10 )=0.0342lbs
F y =Fcos ( 10)
F y =0.197cos ( 10 )=0.194 lbs
M x =F x y
M x =0.03422.00=0.0684 lb
M y =F yx
M y =0.1940.347=0.0673 lb
I=

d 4
64

I=

0.254
=1.917E-4 4
64

VonMises :

 x=

M xr
I

x=

0.06840.125
=44.6 psi
1.917E-4

y=

M yr
I

y=

0.06730.125
=43.88 psi
1.917E-4

VonMises= x 2 + y2 x y
VonMises= 44.62 +43.882 44.643.88=44.24 psi

Since

is less than

VonMises

I will be using

to calculate our safety

of factor, which is desired to be 2. Since our project is so light in weight, we

are well below the Sy value of 7000 psi our factor of safety is extremely high.
N=

Sy
y

N=

7000
=159.53
43.88

Corrected Fatigue Strength Estimates:

C surfCtempC reliabS f
S f =C loadC

'

S f =0.25Sut
'

S ut =7000 psi
S f =0.257000=1750 psi
'

Cload =1
1
C

since there it is bending.

d <0.3 .

since

C surf =ASut b

where

.0265

C surf =2.77
Ctemp =1

A=2.7

and

=1.61 so we will use

b=0.265 .
C surf =1

since it is operating under 450 C.

Creliab =0.753

assuming a reliability of 99.9%.

S f =11110.7531750=1317.75 psi

This corrected fatigue strength estimate is still much, much higher than the
stress that each leg undergoes, therefore no failure will occur.