1. 北京卫星制造厂
2. 北京理工大学爆炸科学与技术国家重点实验室
3. 北方自动控制技术研究所
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张世隆, 王建中, 施家栋, 等. 微小型翻转爬楼梯机器人抗跌落技术[J]. 机械强度, 2016,38(5):1021-1028.
ZHANG ShiLong, WANG JianZhong, SHI JiaDong, et al. ANTI-DROPPING TECHNOLOGY OF MICRO FLIPPABLE STAIR-CLIMBING ROBOT[J]. 2016,38(5):1021-1028.
张世隆, 王建中, 施家栋, 等. 微小型翻转爬楼梯机器人抗跌落技术[J]. 机械强度, 2016,38(5):1021-1028. DOI: 10.16579/j.issn.1001.9669.2016.05.021.
ZHANG ShiLong, WANG JianZhong, SHI JiaDong, et al. ANTI-DROPPING TECHNOLOGY OF MICRO FLIPPABLE STAIR-CLIMBING ROBOT[J]. 2016,38(5):1021-1028. DOI: 10.16579/j.issn.1001.9669.2016.05.021.
微小型地面移动机器人高越障性能与便携性是一对难以解决的矛盾。北京理工大学研制的小型四轮机器人采用车体翻转方式实现了小型移动机器人爬楼梯功能,该机器人重约2.5 kg,便于携带,可短距离抛掷使用。针对上述翻转爬楼梯机器人样机,提出跌落分析3项关注点及评估标准,建立了橡胶材料的超弹性本构关系模型及金属材料考虑应变率的弹塑性模型。基于Abaqus建立有限元模型,对高度1 m情况下水平、竖直、侧向竖直三种典型跌落姿态进行仿真计算,寻找机构存在问题,并在车轮、壳体、电机轴联接方式等方面提出改进措施。对改进后结构进行对比计算,结果验证了改进措施的有效性,改进后机器人能够承载高度3 m的跌落冲击。
Stair-climbing function of Micro Mobile Robot( MMR) conflict with their portability. The Beijing Institute of Technology has developed a four-wheeled MMR which can climb stairs by flipping chassis. This robot weights 2. 5kg,so it is portable and can be deployed by throwing in short distance. In allusion to that robot,three concerns as well as assessments in dropping process have been put forward. The hyperelastic model of rubber and elastic-plastic model considering strain rate of metals were established,and a finite element model( FEM) was established with ABAQUS furthermore. The FEM was tested on three typical working conditions of dropping horizontally,vertically and side-vertically by 1m height. Problems of the original structure were discussed and optimization measures were put forward,concerning tire,shell and motor shaft and so on.Simulation experiments have been done to confirm the validity of those measures. The results show that the dropping resistance is improved,and the optimized structure can sustain drops of 3 m.
微小型机器人抗跌落冲击超弹性弹塑性
Micro Mobile Robotanti dropping impacthyperelasticelastic-plastic
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