Simulation of leg

Date: Monday, March 4, 2024

Designer: Wolelaw Fikadu
Study name: Static analysis of TWSBR
Analysis type: Static

Table of Contents
Description...........................................1
Assumptions..........................................2
Model Information..................................2
Study Properties.....................................3
Units..................................................3
Material Properties.................................4
Loads and Fixtures..................................5
Connector Definitions..............................5
Description Interaction Information............................6
Static analysis of robot leg Mesh information....................................7
Sensor Details........................................8
Resultant Forces....................................9
Beams.................................................9
Study Results.......................................10
Conclusion..........................................12

Analyzed with SOLIDWORKS Simulation Simulation of leg 1

 Wolelaw Fikadu
3/4/2024

Assumptions

Model Information

Model name: leg

Current Configuration: Default

Solid Bodies
Document Name and Document Path/Date
Treated As Volumetric Properties
Reference Modified
Cut-Extrude2
Mass:2.24718 kg
Volume:0.000286265 m^3 E:\solidworks\TWSBR\
Solid Body Density:7,850 kg/m^3 orginal form\leg.SLDPRT
Weight:22.0224 N Mar 3 13:50:18 2024

Analyzed with SOLIDWORKS Simulation Simulation of leg 2

 Wolelaw Fikadu
3/4/2024

Study Properties
Study name Static analysis of TWSBR
Analysis type Static
Mesh type Solid Mesh
Thermal Effect: On
Thermal option Include temperature loads
Zero strain temperature 298 Kelvin
Include fluid pressure effects from Off
SOLIDWORKS Flow Simulation
Solver type Automatic
Inplane Effect: Off
Soft Spring: Off
Inertial Relief: Off
Incompatible bonding options Automatic
Large displacement Off
Compute free body forces On
Friction Off
Use Adaptive Method: Off
Result folder SOLIDWORKS document (E:\solidworks\TWSBR\
orginal form)

Units
Unit system: SI (MKS)
Length/Displacement mm
Temperature Kelvin
Angular velocity Rad/sec
Pressure/Stress N/m^2

Analyzed with SOLIDWORKS Simulation Simulation of leg 3

 Wolelaw Fikadu
3/4/2024

Material Properties
Model Reference Properties Components
Name: AISI 1035 Steel (SS) SolidBody 1(Cut-Extrude2)
Model type: Linear Elastic Isotropic (leg)
Default failure Max von Mises Stress
criterion:
Yield strength: 2.82685e+08 N/m^2
Tensile strength: 5.85e+08 N/m^2
Elastic modulus: 2.05e+11 N/m^2
Poisson's ratio: 0.29
Mass density: 7,850 kg/m^3
Shear modulus: 8e+10 N/m^2
Thermal expansion 1.1e-05 /Kelvin
coefficient:

Curve Data:N/A

Analyzed with SOLIDWORKS Simulation Simulation of leg 4

 Wolelaw Fikadu
3/4/2024

Loads and Fixtures

Fixture name Fixture Image Fixture Details
Entities: 4 face(s)
Type: Fixed Geometry

Fixed-1

Resultant Forces
Components X Y Z Resultant
Reaction force(N) 1 1 -6.69453e-08 1.41421
Reaction Moment(N.m) 0 0 0 0

Load name Load Image Load Details

Entities: 2 face(s)
Type: Apply normal force
Value: 1N

Force-1

Analyzed with SOLIDWORKS Simulation Simulation of leg 5

 Wolelaw Fikadu
3/4/2024

Mesh information
Mesh type Solid Mesh
Mesher Used: Blended curvature-based mesh
Jacobian points for High quality mesh 16 Points
Maximum element size 0.659236 cm
Minimum element size 0.219743 cm
Mesh Quality High

Mesh information - Details

Total Nodes 17097
Total Elements 10746
Maximum Aspect Ratio 8.3782
% of elements with Aspect Ratio < 3 99
Percentage of elements with Aspect Ratio > 10 0
Percentage of distorted elements 0
Time to complete mesh(hh;mm;ss): 00:00:03
Computer name:

Mesh Quality Plots

Name Type Min Max
Quality1 Mesh - -

Analyzed with SOLIDWORKS Simulation Simulation of leg 6

 Wolelaw Fikadu
3/4/2024

Name Type Min Max

leg-Static 1-Quality-Quality1

Resultant Forces
Reaction forces
Selection set Units Sum X Sum Y Sum Z Resultant
Entire Model N 1 1 -6.69453e-08 1.41421

Reaction Moments
Selection set Units Sum X Sum Y Sum Z Resultant
Entire Model N.m 0 0 0 0

Free body forces

Selection set Units Sum X Sum Y Sum Z Resultant
Entire Model N -1.03396e-08 -3.36523e-09 -3.72164e-08 3.87723e-08

Free body moments

Selection set Units Sum X Sum Y Sum Z Resultant
Entire Model N.m 0 0 0 1e-33

Analyzed with SOLIDWORKS Simulation Simulation of leg 7

 Wolelaw Fikadu
3/4/2024

Study Results

Name Type Min Max

Stress1 VON: von Mises Stress 3.302e-03N/m^2 7.753e+03N/m^2
Node: 13991 Node: 16441

leg-Static 1-Stress-Stress1

Name Type Min Max

Displacement1 URES: Resultant Displacement 0.000e+00mm 3.067e-06mm
Node: 8 Node: 13331

Analyzed with SOLIDWORKS Simulation Simulation of leg 8

 Wolelaw Fikadu
3/4/2024

Name Type Min Max

leg-Static 1-Displacement-Displacement1

Name Type Min Max

Strain1 ESTRN: Equivalent Strain 3.269e-13 3.397e-08
Element: 6540 Element: 9038

leg-Static 1-Strain-Strain1

Analyzed with SOLIDWORKS Simulation Simulation of leg 9

 Wolelaw Fikadu
3/4/2024

Conclusion

Analyzed with SOLIDWORKS Simulation Simulation of leg 10