摘要
以“冲击矛”机器人样机研制为研究背景,针对“冲击矛”机器人在土中的三维实体面-面接触问题,运用Drucker-Prager屈服准则为判据,将土体视为DP材料,其塑性行为被假定为理想弹塑性,运用有限元分析手段,对“冲击矛”机器人在土中对土的作用加以研究,通过土体的应力、应变来求出机器人在土中的受力情况;建立机器人在土中的有限元分析模型,并通过机器人在土中的实验来验证模型的正确性;同时,可为机器人设计优化和性能分析提供可靠的依据.
Based on the background of the research on ＂impact moling＂ robot development, aiming at the three dimensions solid problems on contacting face to face, the FEA model of ＂impact moling＂ Robot was established by exerting Drucker - Prager ruh and regarding mud as DP materials and presuming mud＇ s transfiguration as ideal spring - mold character. Through researching the robot＇s action in the earth, the force acting on the robot was calculated by computing mud＇ s stress and strain in reverse. Making use of robot＇ s boring experiment, correcmess of the FEA model was validated. At the same time, we offer credible bases for optimizing design and capability analysis of the ＂impact maling＂ Robots.
出处
《佳木斯大学学报（自然科学版）》
CAS
2006年第3期376-378,共3页
Journal of Jiamusi University：Natural Science Edition
关键词
“冲击矛”机器人
DP材料
有限元分析
优化设计
impact moling Robot
DP Material
finite element analyzing（FEA）
optimizing design
