摘要
年久失修的防空洞、事故矿井等狭窄空间存在大量危险的未知因素,人类不宜进入或无法进入。研发一种地形适应能力强的六足机器人进入地下空间执行重物的搬运任务,对地下空间的开发再利用意义重大。为保证重物搬运机器人在复杂地下环境中平稳运行,对机器人整体机构做了静力学分析。首先,建立六足移动机器人三维模型和有限元模型;然后,分析机器人在不同步态下的应力云图和位移云图;最后,综合研究机器人强度和刚度分布特性,指出机器人设计中存在的薄弱环节,并完成对部分关键零件的优化,从而进一步提高机器人的结构性能。
There are a large number of dangerous unknown factors in the narrow space such as disrepair air-raid shelters and accident mines,which are not suitable or impossible for human beings to enter.Developing a hexapod robot with strong terrain adaptability to carry heavy objects into underground space is of great significance to the development and reuse of underground space.In order to run smoothly in complex underground environment,the whole mechanism of heavy lifting robot was analyzed statically.Firstly,the three-dimensional model and finite element model of the six-legged mobile robot were established.Then,the stress contours and displacement contours of the robot under different gaits were analyzed.Finally,the strength and stiffness distribution characteristics of the robot were comprehensively studied.The weak links in the robot design are pointed out,and the optimization of some key parts is completed,so as to further improve the structural performance of the robot.
作者
张启升
李瑞琴
ZHANG Qisheng;LI Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)
出处
《科技和产业》
2025年第17期108-114,共7页
Science Technology and Industry
基金
2023年度山西省教育科学“十四五”规划“教育数字化与教育教学改革”专项课题(SZH-230040)。
关键词
六足移动机器人
静力学特征
应力与位移云图
强度和刚度
hexapod robot
static characteristics
stress and displacement contours
strength and stiffness
