Design and Simulation Research of a Shock-Absorbing Swing Leg Mechanism

To improve the obstacle crossing ability and ride stability of the ground mobile robot, a shock-absorbing swing leg mechanism is designed according to its performance parameters and space dimensions. Firstly, the overall scheme design and force transfer performance optimization of the mechanism are carried out, that is, the maximum pressure angle of the mechanism is minimum by changing the setover e, and the normal pressure angle is 0, so that the force transfer performance of the whole mechanism is the best. Then the main parts of the mechanism are designed and analyzed, including the selection of spring shock absorber, and then ADAMS simulation verifies the swinging leg function and vibration absorption performance of the mechanism and obtains the displacement, velocity, and acceleration of the body’s center of mass in the vertical direction. Finally, compared with the mobile robot without the vibration absorption swinging leg mechanism, the maximum vertical displacement of the center of mass is reduced by 32.1% and the average vertical displacement is reduced by 23.9%, the mean square value of vertical displacement decreased by 26.3%. Therefore, this shock-absorbing leg swing mechanism can not only enable the mobile robot to realize active leg swing, thereby improving the obstacle clearing ability, but also has the function of passive shock absorption, which has certain popularization value, and can provide reference for the subsequent design of the ground mobile robot leg swing mechanism.