摘要
在机器人行走时,支腿骨架的连接杆承受外界多种载荷的影响,会产生复杂的激励振动响应。利用UG软件对连接杆进行有限元建模,并利用NASTRAN求解器对其进行振动频率响应分析。先对连接杆进行在约束条件下的模态分析,得出连接杆5阶固有频率。再对其进行有外部激励载荷源条件下的振动频率响应分析。通过发现载荷源方向不同,连接杆的频率响应不同。某些情况下并未产生共振。
When a robot walks,the connecting link of the leg skeleton bears the influence of the various external load,it will produce the complicated excitation vibration response.The finite models are built on it according with the software UG,and the response of the vibration frequency are analyzed by means of NASTRAN.First,the modal of the connecting rod under the constraint condition is analyzed,we got the 5-stage fixed frequency,then the vibration frequency under the external excitation load source condition is analyzed.Then we find the different directions of the load,and the different frequency response may cause resonate under certain conditions.
出处
《陕西国防工业职业技术学院学报》
2017年第3期13-16,共4页
Journal of Shaanxi Institute of Technology
关键词
连接杆
有限元
模态
响应
Connecting link
Finite element
Modal
Response
