Test on Stress Distribution of Bionic C-leg Wheel-soil Interaction with Its Data Processing

To study the relationship between the ground support force and drawbar pull of C-leg and the normal and shear stress on the wheel flange, while the C-leg of the six-legged bionic sand-based robot travels on the sand base, the integral model of the above relationship are given on the basis of the designed C-leg loop experimental platform. To solve the limitation of sensors, a "position weighted average numerical interpolation method" is proposed. The normal stress and shear stress sensor on the wheel flange obtained corresponding data by experiment. A number of values are inserted between the measured values of the sensors by the "position weighted average numerical interpolation method". The ground support force and drawbar pull are calculated by the given integral model. At the same time, the three-dimensional force sensor installed on C-leg axle measured ground support force and drawbar pull through the test. The relative error of above force calculated from the integral model is 4.69% and 1.16% respectively compared with the mean value measured by the three-dimensional force sensor. The relative error is less than 5%, which verifies the correctness of the integral model and the feasibility of "position weighted average interpolation method".