摘要
分析了一种车轮可以快换的抛投式侦查机器人从高处跌落的碰撞机理,探究了机器人在跌落时快换结构和整体受力情况和通过实验得出安全跌落高度。数值方法采用计算多体连续碰撞动力学模型中,求解冲击问题的能量方法。根据设计的这款抛投机器人参数应用ANSYS/LS-DYNA对机器人进行仿真实验,通过仿真实验得抛投机器人不同跌落高度,不同着地姿态下各个部件碰撞力的大小,对机器人整体以及危险部位进行强度分析。最后得出这款抛投机器人的快换结构方便、可靠;应该优化内容为车轮橡胶部分,车轴、车轴与轮毂接触处;最大允许跌落高度为大约5米。采用虚拟样机模型仿真实验的方法来优化机器人结构设计,可以减少了实物实验的失败风险,大大加快了设计速度。
Analysis of a collision mechanism about a miniature throwing scout robot that thewheels can be quickly changed collides when it falling or throwing from a height. the purpose is to draw a conclusionin which componentsis force work on and what height is the robot safe use of the range. The calculation method use the Impact energy method which is the most popular method in continuous impact force model to solving the problem. According the parameters of robot use ANSYS/LS-DYNA to do simulation experiment tha exploring the force when robotin different posture landing,and finding out the main components that force work onand check the dangerous components of the robot and the overall strength. Finally draw a conclusion that the components which need to be optimized are axles and the area axle and the wheel hub contacted,this robot designed the maximum drop height is about 5 meters.
出处
《机械设计与制造》
北大核心
2018年第3期240-243,共4页
Machinery Design & Manufacture
基金
四川省科技厅科技支撑计划项目(2014RZ0049)
